CN116852377A - Determination method and device for shake data of robot joint and computer equipment - Google Patents
Determination method and device for shake data of robot joint and computer equipment Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
The application discloses a method and a device for determining shake data of a robot joint and computer equipment. Wherein the method comprises the following steps: acquiring the postures of a target joint of the robot at a plurality of moments respectively through an inertial measurement unit; according to the gestures at a plurality of moments, determining the motion parameters of a target joint at a plurality of moments respectively; and determining jitter data of the target joint according to the motion parameters at a plurality of moments. The application solves the technical problem of low precision of the method for measuring the robot joint shake data in the related technology.
Description
Technical Field
The present application relates to the field of robotics, and in particular, to a method and apparatus for determining shake data of a robot joint, and a computer device.
Background
The development level of the robot industry has become an important mark for measuring the industrialization level of a country and a region, and in recent years, the development of the robot industry in China is rapid, a plurality of robot manufacturers are emerging, and the produced robots are various in variety and different in function. Due to the existence of flexible links such as a speed reducer and the like, the industrial robot is extremely easy to shake at the tail end and even the whole device during positioning, and the working performance of the industrial robot is greatly reduced. For this purpose, it is necessary to accurately measure the shake data of the industrial robot and analyze a solution for eliminating the shake based on the measurement result.
In the related art, the shake state of the robot joint is generally determined by analyzing the joint current, but the current has relatively large noise, so that the measured shake data of the robot joint has low precision.
In view of the above problems, no effective solution has been proposed at present.
Disclosure of Invention
The embodiment of the application provides a method, a device and computer equipment for determining shake data of a robot joint, which at least solve the technical problem of low accuracy of a method for measuring shake data of the robot joint in the related art.
According to an aspect of the embodiment of the present application, there is provided a method for determining shake data of a robot joint, including: acquiring the postures of a target joint of the robot at a plurality of moments respectively through an inertial measurement unit; according to the gestures at a plurality of moments, determining the motion parameters of a target joint at a plurality of moments respectively; and determining jitter data of the target joint according to the motion parameters at a plurality of moments.
Optionally, determining jitter data of the target joint according to the motion parameters at a plurality of moments includes: performing Fourier transform on the motion parameters at a plurality of moments to generate spectrograms of the motion parameters at the plurality of moments; and determining jitter data of the target joint according to the spectrogram.
Optionally, the method further comprises: matching the spectrogram with the fault spectrogram to obtain a matching result; and determining the working state of the target joint according to the matching result, wherein the working state comprises a normal state and an abnormal state.
Optionally, determining the motion parameters of the target joint at the multiple moments according to the poses at the multiple moments includes: according to the postures at the multiple moments, determining posture transformation of a target joint at the adjacent moments to obtain posture transformation at the multiple moments, wherein the posture transformation at the multiple moments corresponds to the moment after the time in the adjacent moments respectively; and determining the motion parameters of the target joint at a plurality of moments according to the posture transformation at the plurality of moments, wherein the motion parameters at the plurality of moments correspond to the moments after the time in the adjacent moments.
Optionally, determining the posture transformation of the target joint between adjacent moments according to the postures under the multiple moments, to obtain the posture transformation under the multiple moments, including: determining adjacent poses respectively at adjacent moments in time among the plurality of poses; the difference between adjacent poses is determined to be the pose transformation at a plurality of moments respectively.
Optionally, determining the motion parameters of the target joint at the multiple moments according to the posture transformation at the multiple moments includes: respectively determining the time intervals between adjacent moments; and determining the ratio of the gesture transformation to the time interval as the motion parameters at a plurality of moments.
Optionally, the method further comprises: generating a jitter suppression signal according to the jitter data; acquiring a control instruction for controlling a target joint; and controlling the movement of the target joint according to the jitter suppression signal and the control instruction.
According to another aspect of the embodiment of the present application, there is also provided a device for determining shake data of a robot joint, including: the acquisition module is used for acquiring the postures of the target joint of the robot at a plurality of moments respectively through the inertial measurement unit; the first determining module is used for determining motion parameters of the target joint at a plurality of moments according to the gestures at the plurality of moments; and the second determining module is used for determining the shake data of the target joint according to the motion parameters at a plurality of moments.
According to still another aspect of the embodiments of the present application, there is further provided a nonvolatile storage medium, where the nonvolatile storage medium includes a stored program, and when the program runs, a device where the nonvolatile storage medium is controlled to execute the method for determining shake data of any one of the robotic joints described above.
According to still another aspect of the embodiments of the present application, there is further provided a computer device, where the computer device includes a processor, and the processor is configured to execute a program, where the program executes the method for determining shake data of any one of the robot joints described above when running the program.
In the embodiment of the application, the inertial measurement unit is arranged at the joint of the robot, and the gestures of the target joint of the robot at a plurality of moments are acquired through the inertial measurement unit; according to the gestures at a plurality of moments, determining the motion parameters of a target joint at a plurality of moments respectively; according to the motion parameters at a plurality of moments, the shake data of the target joint are determined, and the purpose of determining the shake data of the joint according to the accurate posture of the robot joint acquired by the inertial measurement unit is achieved, so that the technical effect of improving the measurement accuracy of the shake data of the robot joint is achieved, and the technical problem of low accuracy of a method for measuring the shake data of the robot joint in the related art is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
fig. 1 shows a hardware block diagram of a computer terminal for implementing a method of determining shake data of a robot joint;
fig. 2 is a flowchart of a method for determining shake data of a robot joint according to an embodiment of the present application;
FIG. 3 is a schematic illustration of robotic joint modeling provided in accordance with an alternative embodiment of the present application;
FIG. 4 is a schematic illustration of a velocity spectrum graph provided in accordance with an alternative embodiment of the present application;
fig. 5 is a block diagram of a robot joint shake data determination apparatus according to an embodiment of the present application.
Detailed Description
In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
According to an embodiment of the present application, a method embodiment of determination of shake data of a robot joint is provided, it should be noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different from that herein.
The method according to the first embodiment of the present application may be implemented in a mobile terminal, a computer terminal or a similar computing device. Fig. 1 shows a block diagram of a hardware configuration of a computer terminal for implementing a method of determining shake data of a robot joint. As shown in fig. 1, the computer terminal 10 may include one or more (shown as 102a, 102b, … …,102 n) processors (which may include, but are not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data. In addition, the method may further include: a display, an input/output interface (I/O interface), a Universal Serial BUS (USB) port (which may be included as one of the ports of the BUS), a network interface, a power supply, and/or a camera. It will be appreciated by those of ordinary skill in the art that the configuration shown in fig. 1 is merely illustrative and is not intended to limit the configuration of the electronic device described above. For example, the computer terminal 10 may also include more or fewer components than shown in FIG. 1, or have a different configuration than shown in FIG. 1.
It should be noted that the one or more processors and/or other data processing circuits described above may be referred to herein generally as "data processing circuits. The data processing circuit may be embodied in whole or in part in software, hardware, firmware, or any other combination. Furthermore, the data processing circuitry may be a single stand-alone processing module or incorporated, in whole or in part, into any of the other elements in the computer terminal 10. As referred to in embodiments of the application, the data processing circuit acts as a processor control (e.g., selection of the path of the variable resistor termination connected to the interface).
The memory 104 may be used to store software programs and modules of application software, such as a program instruction/data storage device corresponding to a method for determining shake data of a robot joint in an embodiment of the present application, and the processor executes the software programs and modules stored in the memory 104, thereby executing various functional applications and data processing, that is, implementing the method for determining shake data of a robot joint of the application program. Memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory located remotely from the processor, which may be connected to the computer terminal 10 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The display may be, for example, a touch screen type Liquid Crystal Display (LCD) that may enable a user to interact with a user interface of the computer terminal 10.
Fig. 2 is a flowchart of a method for determining shake data of a robot joint according to an embodiment of the present application, as shown in fig. 2, the method includes the following steps:
in step S202, the inertial measurement unit obtains the poses of the target joints of the robot at a plurality of moments, respectively.
The inertial measurement unit is a device that measures the three-axis attitude angle (or angular rate) and acceleration of an object. Generally, an IMU includes three single-axis accelerometers and three single-axis gyroscopes, where the accelerometers detect acceleration signals of the object in the carrier coordinate system on three independent axes, and the gyroscopes detect angular velocity signals of the carrier relative to the reference coordinate system, measure angular velocity and acceleration of the object in three-dimensional space, and calculate the attitude of the object based on the angular velocity and acceleration.
A robot is typically made up of a base and a plurality of joints, wherein the last joint in a joint chain made up of a plurality of joints is commonly referred to as the robot tip. In this step, the inertial measurement unit may be applied to the field of robots, and an inertial measurement unit is disposed at a joint of the robot to obtain a posture of the joint, where the target joint may be any one or more joints in the robot. Since the shaking phenomenon of the robot joint generally occurs in a period of time when the robot joint is stopped during or after the movement, the gestures of the robot joint at a plurality of moments can be collected and analyzed to determine the shaking phenomenon of the robot joint in a period of time formed by the moments. Wherein the time interval between the moments is generally constant for the sake of convenience in data analysis.
Fig. 3 is a schematic diagram of a robot joint modeling provided according to an alternative embodiment of the present application, as shown in fig. 3, which can be regarded as an open chain robot formed by several rigid rods connected end to end. Establishing a satellite coordinate system for each rod piece of the mechanical arm, describing the relative positions and the postures of the coordinate systems by using a homogeneous transformation matrix, further deriving a homogeneous transformation matrix of the end effector of the robot relative to a reference coordinate system (generally taking a base coordinate system), obtaining a kinematic equation of the robot, and after establishing the coordinate system by using a D-H (Denavit-Hartenberg) method, the relative positions and the postures of the coordinate system { i-1} and the coordinate system { i } can be represented by the following four parameters:
(1) Length of rod a i Defined as from Z i-1 Axis to Z i Distance along axis X i The orientation of the axis is positive;
(2) Torsion angle alpha of rod piece i Defined as from Z i-1 Axis to Z i Rotation angle of axis, around X i The positive axis direction rotates positive and defines alpha i ∈(-π,π]；
(3) Joint distance d i Is defined as from X i-1 Axis to X i Distance along axis Z i-1 The orientation of the axis is positive;
(4) Joint distance theta i Is defined as from X i-1 ) Axis to X i Rotation angle of axis about Z i-1 The positive axial rotation is positive and the angle theta is regulated i ∈(-π,π]。
Wherein a is i And alpha i Is the structural parameter of the rod i and is constant. And d is i And theta i Depending on the type of joint i, d when joint i is a revolute joint i Is a constant, θ i Is a variable; and when joint i is a mobile joint, θ i Is constant, d i Is a variable.
As can be seen from fig. 3, the coordinate system { i-1} can be obtained by continuously moving the relative motion in four steps:
(1) Along Z i-1 Shaft movement d i ；
(2) Around Z i-1 Shaft rotation theta i ；
(3) Along X i Shaft movement a i ；
(4) Around X i Axis rotation alpha i 。
The successive right multiplication relative motion homogeneous transformation matrix can obtain the relation of adjacent coordinates:
wherein,, i-1 T i the matrix formed by the front three rows and the three columns of the upper left corner of the middle part is the attitude change of the adjacent coordinate system, and can be obtained through calculation by the data acquired by the inertial measurement unit.
Therefore, the IMU arranged on the joint of the robot can monitor the gesture of the robot, is not influenced by the machining precision, the mounting precision and the like of the connecting workpiece, provides a more accurate mounting gesture, and is used for the kinematic and dynamic modeling of the robot.
Step S204, according to the gestures at a plurality of moments, determining the motion parameters of the target joint at a plurality of moments respectively.
As an optional embodiment, determining the motion parameters of the target joint at a plurality of moments according to the poses at a plurality of moments, includes: according to the postures at the multiple moments, determining posture transformation of a target joint at the adjacent moments to obtain posture transformation at the multiple moments, wherein the posture transformation at the multiple moments corresponds to the moment after the time in the adjacent moments respectively; and determining the motion parameters of the target joint at a plurality of moments according to the posture transformation at the plurality of moments, wherein the motion parameters at the plurality of moments correspond to the moments after the time in the adjacent moments.
As an optional embodiment, determining the posture transformation of the target joint at the adjacent time according to the postures at the multiple times, to obtain the posture transformation at the multiple times, including: determining adjacent poses respectively at adjacent moments in time among the plurality of poses; the difference between adjacent poses is determined to be the pose transformation at a plurality of moments respectively.
As an optional embodiment, determining the motion parameters of the target joint at a plurality of moments according to the posture transformation at a plurality of moments, includes: respectively determining the time intervals between adjacent moments; and determining the ratio of the gesture transformation to the time interval as the motion parameters at a plurality of moments.
Alternatively, the moment t-1 and the moment t may be taken as adjacent moments for illustration, the inertial measurement unit may measure the pose of the target joint at the moment t-1 and the pose of the target joint at the moment t, respectively, the pose of the target joint at the moment t may be subtracted from the pose of the target joint at the moment t-1, and the pose transformation between the moment t-1 and the moment t may be uniformly defined, where the pose transformation is the pose transformation at the moment t. Then, the time interval between the t-1 moment and the t moment can be calculated, and the movement speed of the target joint at the t moment can be obtained by dividing the posture transformation at the t moment by the time interval. Of course, it is also possible to define the posture change at the time when the posture change between the time t-1 and the time t is t-1, without affecting the implementation of the present embodiment.
It should be noted that, the above examples are only examples, and the plurality of time points may include a plurality of groups of adjacent time points, and the posture transformation of the target joint in the adjacent time points may be calculated respectively, so as to determine the motion parameters at the plurality of time points. The motion parameter may be a velocity or other motion parameters that can be obtained by posture conversion.
Step S206, according to the motion parameters at a plurality of moments, the shake data of the target joint is determined.
As an alternative embodiment, determining jitter data of a target joint according to motion parameters at a plurality of moments includes: performing Fourier transform on the motion parameters at a plurality of moments to generate spectrograms of the motion parameters at the plurality of moments; and determining jitter data of the target joint according to the spectrogram.
Optionally, taking the motion parameter as a velocity example, the jitter data of the target joint can be determined through a spectrogram of the velocity. In particular, the velocity V [ omega ] can be]Fourier transforming to obtain velocity V [ omega ]]Is of the frequency spectrum information of (2)The amplitude and time lag of each velocity signal can be read out from the velocity spectrum, so that the jitter data of the target joint can be determined through analysis of the velocity spectrum.
By adopting the mode of arranging the inertial measurement unit at the joint of the robot, the purpose of determining the shake data of the joint according to the accurate posture of the robot joint acquired by the inertial measurement unit is achieved, so that the technical effect of improving the measurement precision of the shake data of the robot joint is achieved, and the technical problem of low precision of a method for measuring the shake data of the robot joint in the related art is solved.
As an alternative embodiment, further comprising: matching the spectrogram with the fault spectrogram to obtain a matching result; and determining the working state of the target joint according to the matching result, wherein the working state comprises a normal state and an abnormal state.
Optionally, a plurality of fault spectrograms may be predetermined, and the obtained spectrograms may be matched with the fault spectrogram, which indicates that the target joint has the same fault when the matching is successful, and may be considered as abnormal when the matching is unsuccessful. Fig. 4 is a schematic diagram of a velocity spectrum diagram provided according to an alternative embodiment of the present application, as shown in fig. 4, in which the velocity of motion of the joint is detected to be 50Hz, and the frequency is normalized, as shown in the following diagram, there is an obvious peak at the frequency multiplication of the velocity 1, which means that an impact occurs when the robot joint rotates once, which is generally caused by assembly errors, such as that the speed reducer is installed improperly. If the amplitude corresponding to 2 times of frequency is large, the problem of a harmonic reducer is generally solved; if 5 multiples occur, this can be a motor problem.
As an alternative embodiment, further comprising: generating a jitter suppression signal according to the jitter data; acquiring a control instruction for controlling a target joint; and controlling the movement of the target joint according to the jitter suppression signal and the control instruction.
Alternatively, the speed information, i.e. the jitter data, may be input into a shaper, which may generate a corresponding jitter suppression signal based on the speed information. Before the next control instruction is sent to the target joint, the shake suppression signal and the control instruction can be combined, the corresponding control instruction can be generated by considering shake data of the target joint, when the movement of the target joint is controlled according to the combined control instruction, shake of the target joint can be weakened to a certain extent, and the shake prevention function of the robot joint is realized.
It should be noted that, for simplicity of description, the foregoing method embodiments are all described as a series of acts, but it should be understood by those skilled in the art that the present application is not limited by the order of acts described, as some steps may be performed in other orders or concurrently in accordance with the present application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required for the present application.
From the above description of the embodiments, it will be clear to those skilled in the art that the method for determining the shake data of the robot joint according to the above embodiments may be implemented by means of software plus a necessary general hardware platform, and of course may also be implemented by hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present application.
According to an embodiment of the present application, there is further provided a device for determining shake data of a robot joint for implementing the method for determining shake data of a robot joint, and fig. 5 is a block diagram of a structure of the device for determining shake data of a robot joint provided according to an embodiment of the present application, as shown in fig. 5, where the device for determining shake data of a robot joint includes: the acquisition module 52, the first determination module 54, and the second determination module 56 will be described below as a determination device for shake data of the robot joint.
An acquiring module 52, configured to acquire, by using an inertial measurement unit, poses of a target joint of the robot at a plurality of moments, respectively; a first determining module 54, configured to determine motion parameters of the target joint at a plurality of moments according to the poses at the plurality of moments, respectively; the second determining module 56 is configured to determine jitter data of the target joint according to the motion parameters at a plurality of moments.
It should be noted that, the above-mentioned obtaining module 52, the first determining module 54 and the second determining module 56 correspond to steps S202 to S206 in the embodiment, and the plurality of modules are the same as the examples and application scenarios implemented by the corresponding steps, but are not limited to those disclosed in the above-mentioned embodiment. It should be noted that the above-described module may be operated as a part of the apparatus in the computer terminal 10 provided in the embodiment.
Embodiments of the present application may provide a computer device, optionally in this embodiment, the computer device may be located in at least one network device of a plurality of network devices of a computer network. The computer device includes a memory and a processor.
The memory may be used to store software programs and modules, such as program instructions/modules corresponding to the method and apparatus for determining shake data of a robot joint in the embodiments of the present application, and the processor executes various functional applications and data processing by running the software programs and modules stored in the memory, thereby implementing the method for determining shake data of a robot joint. The memory may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory may further include memory remotely located relative to the processor, which may be connected to the computer terminal via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The processor may call the information and the application program stored in the memory through the transmission device to perform the following steps: acquiring the postures of a target joint of the robot at a plurality of moments respectively through an inertial measurement unit; according to the gestures at a plurality of moments, determining the motion parameters of a target joint at a plurality of moments respectively; and determining jitter data of the target joint according to the motion parameters at a plurality of moments.
Optionally, determining jitter data of the target joint according to the motion parameters at a plurality of moments includes: performing Fourier transform on the motion parameters at a plurality of moments to generate spectrograms of the motion parameters at the plurality of moments; and determining jitter data of the target joint according to the spectrogram.
Optionally, the method further comprises: matching the spectrogram with the fault spectrogram to obtain a matching result; and determining the working state of the target joint according to the matching result, wherein the working state comprises a normal state and an abnormal state.
Optionally, determining the motion parameters of the target joint at the multiple moments according to the poses at the multiple moments includes: according to the postures at the multiple moments, determining posture transformation of a target joint at the adjacent moments to obtain posture transformation at the multiple moments, wherein the posture transformation at the multiple moments corresponds to the moment after the time in the adjacent moments respectively; and determining the motion parameters of the target joint at a plurality of moments according to the posture transformation at the plurality of moments, wherein the motion parameters at the plurality of moments correspond to the moments after the time in the adjacent moments.
Optionally, determining the posture transformation of the target joint between adjacent moments according to the postures under the multiple moments, to obtain the posture transformation under the multiple moments, including: determining adjacent poses respectively at adjacent moments in time among the plurality of poses; the difference between adjacent poses is determined to be the pose transformation at a plurality of moments respectively.
Optionally, determining the motion parameters of the target joint at the multiple moments according to the posture transformation at the multiple moments includes: respectively determining the time intervals between adjacent moments; and determining the ratio of the gesture transformation to the time interval as the motion parameters at a plurality of moments.
Optionally, the method further comprises: generating a jitter suppression signal according to the jitter data; acquiring a control instruction for controlling a target joint; and controlling the movement of the target joint according to the jitter suppression signal and the control instruction.
By adopting the embodiment of the application, a scheme for determining the shake data of the robot joint is provided. Acquiring the postures of a target joint of the robot at a plurality of moments respectively through an inertial measurement unit by adopting a mode of arranging the inertial measurement unit at the joint of the robot; according to the gestures at a plurality of moments, determining the motion parameters of a target joint at a plurality of moments respectively; according to the motion parameters at a plurality of moments, the shake data of the target joint are determined, and the purpose of determining the shake data of the joint according to the accurate posture of the robot joint acquired by the inertial measurement unit is achieved, so that the technical effect of improving the measurement accuracy of the shake data of the robot joint is achieved, and the technical problem of low accuracy of a method for measuring the shake data of the robot joint in the related art is solved.
Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be implemented by a program for instructing a terminal device to execute on associated hardware, the program may be stored in a non-volatile storage medium, and the storage medium may include: flash disk, read-Only Memory (ROM), random-access Memory (Random Access Memory, RAM), magnetic or optical disk, and the like.
Embodiments of the present application also provide a nonvolatile storage medium. Alternatively, in the present embodiment, the above-described nonvolatile storage medium may be used to store program code executed by the method for determining shake data of a robot joint provided in the above-described embodiment.
Alternatively, in this embodiment, the above-mentioned nonvolatile storage medium may be located in any one of the computer terminals in the computer terminal group in the computer network, or in any one of the mobile terminals in the mobile terminal group.
Optionally, in the present embodiment, the non-volatile storage medium is arranged to store program code for performing the steps of: acquiring the postures of a target joint of the robot at a plurality of moments respectively through an inertial measurement unit; according to the gestures at a plurality of moments, determining the motion parameters of a target joint at a plurality of moments respectively; and determining jitter data of the target joint according to the motion parameters at a plurality of moments.
Optionally, determining jitter data of the target joint according to the motion parameters at a plurality of moments includes: performing Fourier transform on the motion parameters at a plurality of moments to generate spectrograms of the motion parameters at the plurality of moments; and determining jitter data of the target joint according to the spectrogram.
Optionally, the method further comprises: matching the spectrogram with the fault spectrogram to obtain a matching result; and determining the working state of the target joint according to the matching result, wherein the working state comprises a normal state and an abnormal state.
Optionally, determining the motion parameters of the target joint at the multiple moments according to the poses at the multiple moments includes: according to the postures at the multiple moments, determining posture transformation of a target joint at the adjacent moments to obtain posture transformation at the multiple moments, wherein the posture transformation at the multiple moments corresponds to the moment after the time in the adjacent moments respectively; and determining the motion parameters of the target joint at a plurality of moments according to the posture transformation at the plurality of moments, wherein the motion parameters at the plurality of moments correspond to the moments after the time in the adjacent moments.
Optionally, determining the posture transformation of the target joint between adjacent moments according to the postures under the multiple moments, to obtain the posture transformation under the multiple moments, including: determining adjacent poses respectively at adjacent moments in time among the plurality of poses; the difference between adjacent poses is determined to be the pose transformation at a plurality of moments respectively.
Optionally, determining the motion parameters of the target joint at the multiple moments according to the posture transformation at the multiple moments includes: respectively determining the time intervals between adjacent moments; and determining the ratio of the gesture transformation to the time interval as the motion parameters at a plurality of moments.
Optionally, the method further comprises: generating a jitter suppression signal according to the jitter data; acquiring a control instruction for controlling a target joint; and controlling the movement of the target joint according to the jitter suppression signal and the control instruction.
The foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
In the foregoing embodiments of the present application, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed technology may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, for example, may be a logic function division, and may be implemented in another manner, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a non-volatile storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely a preferred embodiment of the present application and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present application, which are intended to be comprehended within the scope of the present application.
Claims (10)
1. A method for determining shake data of a robot joint, comprising:
acquiring the postures of a target joint of the robot at a plurality of moments respectively through an inertial measurement unit;
according to the gestures of the target joint at the multiple moments, determining the motion parameters of the target joint at the multiple moments respectively;
and determining jitter data of the target joint according to the motion parameters at the plurality of moments.
2. The method of claim 1, wherein determining jitter data of the target joint based on the motion parameters at the plurality of moments comprises:
performing Fourier transform on the motion parameters at the plurality of moments to generate spectrograms of the motion parameters at the plurality of moments;
and determining jitter data of the target joint according to the spectrogram.
3. The method as recited in claim 2, further comprising:
matching the spectrogram with a fault spectrogram to obtain a matching result;
and determining the working state of the target joint according to the matching result, wherein the working state comprises a normal state and an abnormal state.
4. The method according to claim 1, wherein determining the motion parameters of the target joint at the plurality of moments according to the poses at the plurality of moments comprises:
determining the posture transformation of the target joint at the adjacent time according to the postures at the plurality of time points to obtain the posture transformation at the plurality of time points, wherein the posture transformation at the plurality of time points corresponds to the time point after the time in the adjacent time point;
and determining the motion parameters of the target joint at the plurality of moments according to the posture transformation at the plurality of moments, wherein the motion parameters at the plurality of moments correspond to the moments after the time in the adjacent moments.
5. The method of claim 4, wherein determining the pose transformation of the target joint at adjacent times based on the poses at the plurality of times, comprises:
determining adjacent poses respectively at the adjacent moments in time among the plurality of poses;
and determining that the difference values between the adjacent gestures are gesture transformation at the plurality of moments respectively.
6. The method of claim 5, wherein determining the motion parameters of the target joint at the plurality of moments according to the pose transformation at the plurality of moments comprises:
respectively determining the time intervals between the adjacent moments;
and determining the ratio of the gesture transformation to the time interval as the motion parameter at the plurality of moments.
7. The method according to any one of claims 1 to 6, further comprising:
generating a jitter suppression signal according to the jitter data;
acquiring a control instruction for controlling the target joint;
and controlling the movement of the target joint according to the jitter suppression signal and the control instruction.
8. A device for determining shake data of a robot joint, comprising:
the acquisition module is used for acquiring the postures of the target joint of the robot at a plurality of moments respectively through the inertial measurement unit;
the first determining module is used for determining the motion parameters of the target joint at the plurality of moments according to the gestures at the plurality of moments;
and the second determining module is used for determining the shake data of the target joint according to the motion parameters at the plurality of moments.
9. A non-volatile storage medium, characterized in that the non-volatile storage medium comprises a stored program, wherein the device in which the non-volatile storage medium is controlled to execute the method for determining the shake data of the robot joint according to any one of claims 1 to 7 when the program is run.
10. A computer device, comprising: a memory and a processor, wherein the memory is configured to store,
the memory stores a computer program;
the processor is configured to execute a computer program stored in the memory, and the computer program when executed causes the processor to execute the method for determining shake data of a robot joint according to any one of claims 1 to 7.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311066806.6A CN116852377A (en) | 2023-08-22 | 2023-08-22 | Determination method and device for shake data of robot joint and computer equipment |
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| CN202311066806.6A CN116852377A (en) | 2023-08-22 | 2023-08-22 | Determination method and device for shake data of robot joint and computer equipment |
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