CN116922383A - Mechanical arm control method, device, equipment and storage medium - Google Patents

Abstract

The disclosure relates to a mechanical arm control method, a device, equipment and a storage medium. The method comprises the following steps: under the condition that the motion state data of the target device is suddenly changed, according to the size of the motion state data, adjusting an initial control coefficient in an initial motion model for controlling the motion of the target mechanical arm to obtain a target motion model; the target mechanical arm is a mechanical arm for driving the target device to move, and the initial control coefficient comprises at least one of an initial elastic coefficient and an initial damping coefficient; and controlling the target mechanical arm to drive the target device to move according to the target motion model. Therefore, the control coefficient in the motion model for controlling the motion of the mechanical arm can be automatically adjusted according to the size of the motion state data, the adjusted motion model is more suitable for the current scene of the device, the automatic motion model adjustment according to the motion state is realized, and the use experience of a user is improved.

Description

Mechanical arm control method, device, equipment and storage medium

Technical Field

The disclosure relates to the technical field of robot motion control, and in particular relates to a method, a device, equipment and a storage medium for controlling a mechanical arm.

Background

In the related art, in the process of performing operations such as auxiliary drilling by using a robot arm, the upper computer can plan a motion track of the robot arm and limit the motion freedom degree of the robot arm according to the motion track, so that the robot arm can move in the initial freedom degree. The user drags the mechanical arm in the initial degree of freedom direction, and the mechanical arm carries out corresponding movement according to the force applied by the user, so that operations such as drilling and the like are realized.

However, in this method, under different scenes, the user applies the same force, and the motion determined by the mechanical arm according to the force is the same, which may cause the determined motion of the mechanical arm to be not adapted to the scene, thereby reducing the use experience of the user.

Disclosure of Invention

In order to solve the technical problems, the disclosure provides a method, a device, equipment and a storage medium for controlling a mechanical arm.

In a first aspect, the present disclosure provides a method for controlling a mechanical arm, the method including:

under the condition that the motion state data of the target device is suddenly changed, adjusting an initial control coefficient in an initial motion model for controlling the motion of the target mechanical arm according to the size of the motion state data to obtain a target motion model; the target mechanical arm is a mechanical arm for driving the target device to move, and the initial control coefficient comprises at least one of an initial elastic coefficient and an initial damping coefficient;

And controlling the target mechanical arm to drive the target device to move according to the target motion model.

In a second aspect, the present disclosure provides a robot arm control device, the device comprising:

the first adjusting module is used for adjusting an initial control coefficient in an initial motion model for controlling the motion of the target mechanical arm according to the size of the motion state data under the condition that the motion state data of the target device is suddenly changed, so as to obtain a target motion model; the target mechanical arm is a mechanical arm for driving the target device to move, and the initial control coefficient comprises at least one of an initial elastic coefficient and an initial damping coefficient;

and the control module is used for controlling the target mechanical arm to drive the target device to move according to the target motion model.

In a third aspect, embodiments of the present disclosure further provide an electronic device, including:

one or more processors;

storage means for storing one or more programs,

the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method provided by the first aspect.

In a fourth aspect, embodiments of the present disclosure also provide a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method provided by the first aspect.

Compared with the prior art, the technical scheme provided by the embodiment of the disclosure has the following advantages:

according to the mechanical arm control method, the mechanical arm control device, the mechanical arm control equipment and the storage medium, under the condition that motion state data of a target device are suddenly changed, initial control coefficients in an initial motion model for controlling motion of the target mechanical arm are adjusted according to the size of the motion state data, and a target motion model is obtained; the target mechanical arm is a mechanical arm for driving the target device to move, and the initial control coefficient comprises at least one of an initial elastic coefficient and an initial damping coefficient; and controlling the target mechanical arm to drive the target device to move according to the target motion model. Therefore, the mechanical arm drives the target device to move, and under the condition that the movement state of the target device is suddenly changed, the situation that the scene where the target device is located is possibly changed is indicated, and the method can automatically adjust the control coefficient in the movement model for controlling the movement of the mechanical arm according to the size of movement state data, and the adjusted movement model is more suitable for the current scene where the device is located, so that the automatic adjustment of the movement model according to the movement state is realized, and the use experience of a user is improved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.

In order to more clearly illustrate the embodiments of the present disclosure or the solutions in the prior art, the drawings that are required for the description of the embodiments or the prior art will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.

Fig. 1 is a schematic flow chart of a method for controlling a mechanical arm according to an embodiment of the disclosure;

fig. 2 is a schematic flow chart of another method for controlling a mechanical arm according to an embodiment of the disclosure;

fig. 3 is a flow chart of another method for controlling a mechanical arm according to an embodiment of the disclosure;

fig. 4 is a schematic data transmission diagram of a control method of a mechanical arm according to an embodiment of the disclosure;

fig. 5 is a schematic structural diagram of a mechanical arm control device according to an embodiment of the disclosure;

fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the disclosure.

Detailed Description

In order that the above objects, features and advantages of the present disclosure may be more clearly understood, a further description of aspects of the present disclosure will be provided below. It should be noted that, without conflict, the embodiments of the present disclosure and features in the embodiments may be combined with each other.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced otherwise than as described herein; it will be apparent that the embodiments in the specification are only some, but not all, embodiments of the disclosure.

In performing anterior cruciate ligament (Anterior Cruciateligament, ACL) surgery, equipment manufacturing, etc., a robot may be used to perform ancillary tasks.

In the related art, in the process of performing operations such as auxiliary drilling by using a robot arm, the upper computer can plan a movement track of the robot arm, and the robot arm carries devices to a preparation working position in the movement track. The mechanical arm enters a limited dragging state, in the limited dragging state, the motion freedom degree of the mechanical arm is limited according to the motion trail, the mechanical arm can move along the initial freedom degree under the dragging operation of a user, and the mechanical arm correspondingly moves according to the force applied by the user, so that the operations such as drilling of an object are realized.

However, in this method, under different situations, the user applies the same force, and the motion determined by the mechanical arm according to the force is the same, which may cause the user to drag the mechanical arm to feel too heavy or the mechanical arm to be unstable after contacting the processed object, thereby reducing the use experience of the user.

In order to solve at least one of the above-mentioned technical problems, a method for controlling a mechanical arm according to an embodiment of the present disclosure is described below. In the embodiment of the disclosure, the mechanical arm control method may be performed by an electronic device. The electronic device may be a controller of the surgical robot. The electronic device may include devices with communication functions, such as a tablet computer, a desktop computer, a notebook computer, and the like, and may also include devices simulated by a virtual machine or a simulator.

Fig. 1 shows a schematic flow chart of a method for controlling a mechanical arm according to an embodiment of the disclosure. As shown in fig. 1, the robot arm control method may include the following steps.

Step 101, under the condition that the motion state data of a target device is suddenly changed, according to the size of the current motion state data, adjusting an initial control coefficient in an initial motion model for controlling the motion of a target mechanical arm to obtain a target motion model; the target mechanical arm is a mechanical arm for driving the target device to move, and the initial control coefficient comprises at least one of an initial elastic coefficient and an initial damping coefficient.

The target device may be a tool carried by the target mechanical arm, and the target device may be determined according to a function implemented by the target mechanical arm. For example, if the function performed by the target manipulator is drilling, the target device may be a drill bit, and if the function performed by the target manipulator is stationary, the target device may be a tool carrying a stationary needle such as a k-wire. The types of the target robot arm are various, and the present embodiment is not limited, and for example, the target robot arm may be a robot arm that constitutes a surgical robot. The connection manner between the target mechanical arm and the target device is not limited in this embodiment, for example, the target device may be fixedly connected to the target mechanical arm, or the target device may be movably connected to the target mechanical arm.

The motion state data may be data characterizing an actual motion state of the target device, which is not limited by the present embodiment, and may include one or more of velocity state data and acceleration state data, for example. The size of the motion state data may be a numerical size of the motion state data.

The motion model can be a model which is determined according to an admittance control strategy and can control the movement of the mechanical arm, and the motion model can be an admittance control formula corresponding to the admittance control strategy or deformation of the admittance control formula. The input data of the motion model may include force data and/or torque data, and the output of the motion model may include displacement control data and/or speed control data, etc., for controlling the motion of the robotic arm. The initial motion model may be a model that controls the motion of the robotic arm before the mutation occurs in the motion state data. The target motion model may be a model for controlling the motion of the mechanical arm after the mutation occurs in the motion state data, and the difference between the target motion model and the initial motion model may include a difference in control coefficient.

For example, the admittance control formula may be:

K(x _d -x)+B(v _d -v)+M(a _d -a)＝F _d -F

Wherein, the liquid crystal display device comprises a liquid crystal display device,k is an elastic coefficient, B is a damping coefficient, M is an inertial coefficient, x _d For the desired displacement, x is the actual displacement, v _d For the desired speed, v is the actual speed, a _d For the desired acceleration, a is the actual acceleration, F _d For the desired force data, F is the actual force data.

Since it is difficult to accurately measure the acceleration data at the time of actual measurement, the controlled amount can be determined as the acceleration. Secondly, the input data of the control interface of the mechanical arm is displacement control data, so that acceleration is required to be integrated for two times, the admittance control formula is deformed in consideration of large error caused by the two times of integration, acceleration items in the admittance control formula are removed, the deformed admittance control formula is used as an initial operation model, and the deformation of the admittance control formula can be as follows:

K(x _d -x)+B(v _d -v)＝F _d -F

wherein K is an elastic coefficient, B is a damping coefficient, x _d For the desired displacement, x is the actual displacement, v _d For the desired speed, v is the actual speed, F _d For the desired force data, F is the actual force data.

The control coefficient may be a coefficient in the motion model that can be adjusted according to a user requirement or an application scene, and the control coefficient may be a coefficient affecting motion control data output by the motion model. The initial control coefficients may be control coefficients in an initial control model. The target control coefficients may be control coefficients in a target control model. The target control coefficient may include a subsequent first spring rate, first damping coefficient, or the target control coefficient may include a subsequent second spring rate, second damping coefficient.

The elastic coefficient may be a coefficient characterizing the relationship between force and displacement. The larger the elastic coefficient is, the larger the displacement is under the action of the same force; the smaller the spring constant, the smaller the displacement under the same force. The damping coefficient may be a coefficient characterizing the relationship between resistance and speed. The larger the damping coefficient, the greater the resistance at the same speed; the smaller the damping coefficient, the less resistance at the same speed. The initial elastic coefficient may be an elastic coefficient in the initial motion model, and the initial damping coefficient may be a damping coefficient in the initial motion model.

In the embodiment of the disclosure, the target mechanical arm may be a surgical robot, an industrial robot, or the like, and the target device may be a drill, a tool for installing a fixing needle, or the like. The upper computer can determine the motion trail of the target device according to the image data and send the motion trail and the preparation position in the motion trail to the mechanical arm control device. The image data may include, among other things, an electronic computed tomography (Computed Tomography, CT) image.

After receiving the motion trail, the mechanical arm control device controls the target mechanical arm to drive the target device to move to a preparation position according to the motion trail, wherein the preparation position is usually a position close to a working object outside the target mechanical arm, and the target device is not contacted with other objects such as the working object outside the target mechanical arm before moving to the preparation position. And then the target mechanical arm enters a limited dragging state, a user drags the target mechanical arm to approach an operating object, and the initial motion model controls the target mechanical arm to drive the target device to move in the direction of an initial degree of freedom according to the dragging force of the user, wherein the initial degree of freedom has various types, for example, the initial degree of freedom can comprise the axial direction of the target device and the like. The working object may be an object that is processed by the target device, and the working object is not limited in this embodiment.

And in the process that the user drags the target mechanical arm to move, a motion state sensor in the target device acquires motion state data of the target device and sends the motion state data to the mechanical arm control device. The mechanical arm control device receives the motion state data sent by the motion state sensor and monitors whether the motion state is suddenly changed. Under the condition that the motion state data is suddenly changed, the possibility that the target device contacts the working object is relatively high, and under the condition that the initial motion model which is used for controlling the target mechanical arm to drive the target device to move is not suitable any more. And adjusting the initial control coefficient in the initial motion model to be a target control coefficient according to the current motion state data size to obtain a target motion model taking the target control coefficient as the control coefficient.

In another possible embodiment, after the user control target device completes the processing on the working object, the user drags the target mechanical arm control target device away from the working object, in which case the motion state data may also be suddenly changed, and in which case the initial motion model that the original control target mechanical arm drives the target device to move under the condition of contacting the working object is no longer applicable.

In some embodiments of the present disclosure, the mutation of the motion state data of the target device includes:

acquiring current motion state data, and acquiring the previous motion state data of the current motion state data to obtain the previous motion state data; and if the absolute value of the change value between the current motion state data and the previous motion state data is larger than the preset motion state threshold value, determining that the motion state data is suddenly changed.

The current movement state data may be the latest movement state data. The previous motion state data may be previous motion state data adjacent to the current motion state data. The change value between the current motion state data and the previous motion state data may be an absolute value of a difference between the current motion state data and the previous motion state data. The preset motion state threshold may be a maximum value of the change value in the case where the preset motion state data is not mutated.

In this embodiment, the mechanical arm control device collects the motion state data of the target device in real time, takes the real-time motion state data as current motion state data, and determines the previous motion state data of the current motion state data as previous motion state data. And calculating the absolute value of the difference between the current motion state data and the previous motion state data to obtain a change value. Judging whether the change value is larger than a preset motion state threshold value, if so, determining that the motion state data is suddenly changed; otherwise, determining that the motion state data is not mutated.

In the scheme, whether the control coefficient of the initial motion model is adjusted or not is determined through whether the motion state data suddenly changes, the real-time motion state data can accurately represent the real-time motion state of the target device, and whether the control coefficient is adjusted or not can be determined in time. Compared with the prior art, whether the target device is in contact with the operation object or not is determined through visual data, the hardness difference between different operation objects and the hardness difference inside the operation object can be adjusted in real time based on the motion state data, and the method has better suitability.

In some embodiments of the present disclosure, according to the size of the current motion state data, an initial control coefficient in an initial motion model for controlling the motion of the target mechanical arm is adjusted, where there are various adjustment methods for the initial control coefficient, and the embodiment is not limited, and examples are as follows:

in an alternative embodiment, if the current motion state data is greater than the first state threshold, the initial elastic coefficient is adjusted to be the first elastic coefficient according to the preset elastic coefficient maximum value and the preset initial elastic coefficient, and the initial damping coefficient is adjusted to be the first damping coefficient according to the preset damping coefficient maximum value and the preset initial damping coefficient.

The first state threshold may be a predetermined maximum value of motion state data that does not adjust the control coefficient, and the first state threshold may be adjusted according to a user requirement, which is not limited in this embodiment. The first elastic modulus may be an elastic modulus that is smaller than the initial elastic modulus after adjustment. The first damping coefficient may be a damping coefficient that is greater than the initial damping coefficient after adjustment. The first spring rate and the first damping rate can be understood as conservative control rates. The maximum value of the elastic coefficient may be a preset maximum value of the elastic coefficient, and the maximum value of the elastic coefficient may be set according to a user requirement or the like, which is not limited in this embodiment. The maximum value of the damping coefficient may be a maximum value of a preset damping coefficient, and the maximum value of the damping coefficient may be set according to a user demand or the like, which is not limited in this embodiment.

In this embodiment, if the current motion state data is greater than the first state threshold, it is indicated that the control coefficient needs to be adjusted. And determining a first elastic coefficient difference between the maximum value of the elastic coefficient and the initial elastic coefficient, and dividing the first elastic coefficient difference by the maximum value of the elastic coefficient to obtain a first elastic coefficient quotient. The first coefficient of elasticity is subtracted from the initial coefficient of elasticity to obtain the first coefficient of elasticity. And determining a first damping coefficient difference between the maximum value of the damping coefficient and the initial damping coefficient, and dividing the first damping coefficient difference by the maximum value of the damping coefficient to obtain a first damping coefficient quotient. The initial damping coefficient is added to the quotient of the first damping coefficient to obtain the first damping coefficient.

For example, if the motion state data includes acceleration, acc is the current motion state data, acc _max Is a first state threshold, K _max Is the maximum elastic coefficient, K is the initial elastic coefficient, K' is the first elastic coefficient, B _max For the maximum damping coefficient, B is the initial damping coefficient, and B' is the first damping coefficient, then there are:

in this embodiment, in the case where the movement state data is too large, it is indicated that the target device may contact the work object, and the user increases the force applied to the target robot arm according to the experience of actually processing the work object. Therefore, the elastic coefficient in the initial motion model is reduced, the damping coefficient in the initial motion model is increased, the target motion model is obtained, further, the target device controlled based on the target motion model is enabled to be reduced in motion state data compared with the prior device under the input of the same force, unstable oscillation of the mechanical arm when touching the operation object is avoided, the target device is still stable after touching the operation object, and the stability of the system is improved.

In another alternative embodiment, if the current motion state data is smaller than the second state threshold, the initial elastic coefficient is adjusted to be the second elastic coefficient according to the preset minimum value of the elastic coefficient and the initial elastic coefficient, and the initial damping coefficient is adjusted to be the second damping coefficient according to the preset minimum value of the damping coefficient and the initial damping coefficient.

The second state threshold may be a minimum value of motion state data that is predetermined and does not adjust the control coefficient, and the second state threshold may be adjusted according to a user requirement, which is not limited in this embodiment. It will be appreciated that in this embodiment, if the current motion state data is between the first state threshold and the second state threshold, no adjustment is made to the initial control coefficients in the initial motion model. The second elastic modulus may be an elastic modulus that is greater than the initial elastic modulus after adjustment. The second damping coefficient may be a damping coefficient that is less than the initial damping coefficient after adjustment. The second spring rate and the second damping rate can be understood as aggressive control rates. The minimum value of the elastic coefficient may be a preset minimum value of the elastic coefficient, and the minimum value of the elastic coefficient may be set according to a user requirement, etc., which is not limited in this embodiment. The minimum value of the damping coefficient may be a preset minimum value of the damping coefficient, and the minimum value of the damping coefficient may be set according to a user requirement or the like, which is not limited in this embodiment.

In this embodiment, if the current motion state data is smaller than the second state threshold, it is indicated that the control coefficient needs to be adjusted. And determining a second elastic coefficient difference between the initial elastic coefficient and the elastic coefficient minimum value, and dividing the second elastic coefficient difference by the elastic coefficient minimum value to obtain a second elastic coefficient quotient. The initial modulus of elasticity is added to the second modulus of elasticity to obtain a second modulus of elasticity. And determining a second damping coefficient difference between the initial damping coefficient and the minimum value of the damping coefficient, and dividing the second damping coefficient difference by the minimum value of the damping coefficient to obtain a second damping coefficient quotient. Subtracting the quotient of the second damping coefficient from the initial damping coefficient to obtain the second damping coefficient.

For example, if the motion state data includes acceleration, acc is the current motion state data,acc _min is the second state threshold, K _min For the minimum elastic coefficient, K is the initial elastic coefficient, K' is the second elastic coefficient, B _min For the minimum damping coefficient, B is the initial damping coefficient, and B "is the second damping coefficient, then there are:

in this embodiment, in the case where the movement state data is too small, it is indicated that the target device may be separated from the work object, and the user drags the target mechanical arm without the target device contacting the work object. The elastic coefficient in the initial motion model is regulated and the damping coefficient in the initial motion model is regulated to be smaller, so that a target motion model is obtained, further, a target device controlled based on the target motion model is increased in motion state data under the same force input, the dragging hand feeling of a user is lightened, and the hand feeling of the user when the user actually processes an operation object is met.

In some embodiments of the present disclosure, if the motion state data is greater than the first state threshold, the method further includes:

replacing an initial elastic coefficient in the initial motion model with a first elastic coefficient, and replacing an initial damping coefficient with a first damping coefficient to obtain an intermediate motion model; adding unit displacement quantity at the displacement calculation side of the intermediate motion model to obtain the target motion model.

The intermediate motion model may be a model determined in the calculation process of the target motion model. The edge may be an edge of a formula equal sign. The displacement calculation edge may be an edge in the intermediate motion model that can solve for the displacement. The unit displacement amount may be a preset supplementary displacement amount, and the embodiment does not limit the unit displacement amount, for example, the unit displacement amount may be set according to a user requirement or an application scene, etc.

In this embodiment, after determining the first elastic coefficient and the first damping coefficient, the initial elastic coefficient in the initial model is replaced with the first elastic coefficient, the initial damping coefficient in the initial model is replaced with the first damping coefficient, the intermediate motion model is obtained, and the intermediate motion model is subjected to the term shifting so that one side includes the displacement, the other side includes the variable for calculating the displacement, and the side including the variable for calculating the displacement is the displacement calculating side. And adding the unit displacement amount at the displacement calculation side of the intermediate motion model to obtain the target motion model.

For example, if the intermediate motion model is x=f (F), where x represents displacement and F (F) represents a displacement calculation edge with the collected force data as a variable. The displacement of the unit is x _auto . The object motion model may be x=f (F) +x _auto 。

In the scheme, as the elastic coefficient is reduced and the damping coefficient is increased, when the mechanical arm is controlled to move based on the intermediate motion model, the dragging hand feeling of a user is heavy, and the automatic displacement can be added by increasing the unit displacement, so that the hand feeling of the dragging mechanical arm is light on the basis of stable system control.

And 102, controlling the target mechanical arm to drive the target device to move according to the target motion model.

In the embodiment of the disclosure, after the target motion model is determined, the collected force data of the target mechanical arm dragged by the user is processed based on the target motion model to obtain corresponding motion control data, and the target mechanical arm is controlled to drive the target device to move according to the motion control data.

According to the mechanical arm control method, under the condition that motion state data of a target device is suddenly changed, initial control coefficients in an initial motion model for controlling motion of the target mechanical arm are adjusted according to the size of the motion state data, and a target motion model is obtained; the target mechanical arm is a mechanical arm for driving the target device to move, and the initial control coefficient comprises at least one of an initial elastic coefficient and an initial damping coefficient; and controlling the target mechanical arm to drive the target device to move according to the target motion model. Therefore, the mechanical arm drives the target device to move, and under the condition that the movement state of the target device is suddenly changed, the situation that the scene where the target device is located is possibly changed is indicated, and the method can automatically adjust the control coefficient in the movement model for controlling the movement of the mechanical arm according to the size of movement state data, and the adjusted movement model is more suitable for the current scene where the device is located, so that the automatic adjustment of the movement model according to the movement state is realized, and the use experience of a user is improved.

Fig. 2 is a flow chart of another method for controlling a mechanical arm according to an embodiment of the present disclosure, as shown in fig. 2, for controlling a target mechanical arm to drive a target device to move according to a target motion model, including:

step 201, responding to dragging operation of a user on a target mechanical arm, and acquiring force data acquired by a force sensor of the target mechanical arm; wherein, the range of the force sensor is larger than the preset range.

The dragging operation may be an operation of dragging the target mechanical arm by the user, and it should be noted that the dragging operation is not direct power of the movement of the target mechanical arm. The force sensor may be a sensor for detecting the force magnitude, and the force sensor may be a six-dimensional force sensor. Specifically, the force sensor can be a wide-range six-dimensional force sensor, and compared with a small-range six-dimensional force sensor, the wide-range six-dimensional force sensor can avoid the damage of the sensor over-range caused by misoperation of a user, and has lower cost.

In the embodiment of the disclosure, a user performs a drag operation on a target mechanical arm, and a force sensor of the target mechanical arm acquires force data corresponding to the drag operation and sends the force data to a mechanical arm control device. The mechanical arm control device acquires force data acquired by a force sensor of the target mechanical arm.

And 202, inputting the force data into a target motion control model to obtain motion control data of the target mechanical arm.

The motion control data may be data for controlling the motion of the target mechanical arm, and the motion control data is various, which is not limited in this embodiment. For example, the motion control data may include: displacement control data, speed control data, acceleration control data.

In the embodiment of the disclosure, after determining the target motion control model, the mechanical arm control device inputs force data corresponding to a drag operation of a user into the target motion control model. And the target motion control model calculates the force data to obtain motion control data of the target mechanical arm.

Optionally, inputting the force data into the target motion control model includes: and performing low-pass filtering processing on the force data, and inputting the force data after the low-pass filtering processing into a target motion control model. The force data with the value exceeding the preset force data threshold can be deleted through the low-pass filtering process. Therefore, the influence of larger force data noise acquired by the large-range force sensor on the control of the subsequent target mechanical arm is avoided.

And 203, controlling the target mechanical arm to drive the target device to move according to the motion control data.

In this embodiment, the mechanical arm control device may control the movement of the target mechanical arm according to the movement control data, and drive the target device to move together during the movement of the target mechanical arm.

In the scheme, the wide-range force sensor is adopted, so that the sensor is prevented from being damaged in an oversrange due to misoperation of a user, and the cost is low.

In some embodiments of the present disclosure, the method for controlling a mechanical arm is applied to a processor of a target mechanical arm, and controls the target mechanical arm to drive a target device to move according to motion control data, including:

step a1, storing the motion control data into a motion control queue.

The motion control queue may be a data queue for storing motion control data, among other things.

In this embodiment, the robot arm control device does not directly control the movement of the target robot arm according to the motion control data after generating the motion control data, but stores the motion control data to the motion control queue.

And a2, judging whether the quantity of the motion control data in the control data queue reaches a preset quantity threshold, if so, extracting the motion control data in the control data queue, and smoothing the motion control data in the control data queue into a plurality of smooth control data.

The preset number threshold may be a maximum value of motion control data stored in the control data queue, and the preset data threshold may be set according to a user requirement or the like. The real-time performance of the control target mechanical arm can be affected by the fact that the preset number threshold is too large, and the effect of smoothing control data is difficult to achieve when the preset number threshold is too small.

In this embodiment, the mechanical arm control device determines whether the number of motion control data in the control data queue is equal to a preset number threshold, if so, extracts the motion control data in the control data queue, and empties the motion control data in the control data queue, so that the motion control data is stored continuously through the control data queue. Further, the motion control data acquired from the control data queue is subjected to smoothing processing such as interpolation processing, and corresponding smoothing control data is obtained.

If the quantity of the motion control data in the control data queue is smaller than the preset quantity threshold value, the motion control data is continuously stored in the control data queue until the quantity of the motion control data in the control data queue is equal to the preset quantity threshold value.

And a step a3, controlling the target mechanical arm to drive the target device to move according to the plurality of smooth control data.

In this embodiment, after the mechanical arm control device determines the smoothing control data, the mechanical arm control device may control the movement of the target mechanical arm with the smoothing control data, and in the process of moving the target mechanical arm, the target device is driven to move together.

In the scheme, the motion control data is stored in the motion control queue, and the motion control data in the motion control queue is subjected to smoothing treatment, so that the problem of unsmooth control data caused by the adoption of a wide-range force sensor is solved, and a foundation is created for the smooth motion of a subsequent target mechanical arm.

In addition, as the mechanical arm control method is applied to the processor of the target mechanical arm, compared with the prior art, the mechanical arm control method is used for controlling the mechanical arm in the upper computer, and then the upper computer sends control related data of the mechanical arm to the processor of the mechanical arm, so that the upper computer and the processor of the mechanical arm are prevented from carrying out related communication of real-time control of the mechanical arm, the time delay problem in the real-time control process of the mechanical arm is solved, the control of the mechanical arm is more instant, and a real-time dimension foundation is created for storing motion control data into a motion control queue for follow-up and carrying out smoothing treatment by taking the motion control queue as a unit.

In some embodiments of the present disclosure, controlling a target mechanical arm to drive a target device to move according to a plurality of smoothing control data includes:

determining the size of the smooth control data larger than a first control threshold value in the plurality of smooth control data as the first control threshold value, and determining the size of the smooth control data smaller than a second control threshold value as the second control threshold value, so as to obtain a plurality of adjustment control data corresponding to the plurality of smooth control data; and controlling the target mechanical arm to drive the target device to move according to the plurality of adjustment control data.

The first control threshold may be a maximum value of control data for controlling the movement of the target mechanical arm, and the second control threshold may be a minimum value of control data for controlling the movement of the target mechanical arm. The number of the plurality of adjustment control data is the same as the number of the plurality of smoothing control data.

In this embodiment, the robot arm control device determines, as first smoothing control data, smoothing control data larger than a first control threshold value among the plurality of smoothing control data, and sets a value of the first smoothing control data as the first control threshold value; and determining the smoothing control data smaller than the second control threshold value in the plurality of smoothing control data as second smoothing control data, and setting the value of the second smoothing control data as the second control threshold value.

And modifying the size of the smooth control data larger than the first control threshold value in the original smooth control data to be the first control threshold value, and modifying the size of the smooth control data smaller than the second control threshold value to be the second control threshold value. And obtaining adjustment control data corresponding to the plurality of smooth control data after modification. And further, the target mechanical arm is controlled to move according to the adjustment control data, and the target device is driven to move together in the moving process of the target mechanical arm.

For example, if the smoothing control data is level, the first control threshold is level _max The second control threshold is vel _min The following steps are:

in the above scheme, because the force sensor with larger measuring range is adopted, force data possibly collected by the force sensor has larger noise, motion control data determined according to the force data also has noise, and the motion control data in the control data queue is subjected to smoothing processing and limitation of maximum value and minimum value, so that the processed adjustment control data has smaller noise, and the smooth motion of the target mechanical arm based on the large-range force sensor is realized.

Fig. 3 is a flow chart of another method for controlling a mechanical arm according to an embodiment of the disclosure, as shown in fig. 3, in some embodiments of the disclosure, the method further includes:

Step 301, receiving an initial degree of freedom of a target mechanical arm sent by an upper computer to drive a target device to move.

Wherein the degrees of freedom may include axial degrees of freedom and/or rotational degrees of freedom, wherein the axial degrees of freedom include one or more of an X-axis degree of freedom, a Y-axis degree of freedom, a Z-axis degree of freedom, and the rotational degrees of freedom include one or more of a rotational degree of freedom about the X-axis, a rotational degree of freedom about the Y-axis, and a rotational degree of freedom about the Z-axis. The initial degree of freedom may be a degree of freedom in which the traveling direction of the target device is determined based on the motion trajectory, and the initial degree of freedom is various, and the present embodiment is not limited. Taking the target device as a drill bit as an example, the initial degree of freedom may be a drilling direction of the drill bit, i.e., an axial direction of the drill bit.

In this embodiment, the upper computer may calculate a motion trajectory of the target mechanical arm, where the motion trajectory defines a degree of freedom of motion of the target mechanical arm. The upper computer sends the motion trail of the target mechanical arm to the mechanical arm control device, and the mechanical arm control device receives the motion trail and limits the target mechanical arm to move in the initial degree of freedom according to the motion trail.

In step 302, in the case that the motion state data of the target device is abrupt, the initial degree of freedom is adjusted to a fixed point degree of freedom capable of rotating around the target endpoint of the target device, so that the target device completes the countersinking in response to the fixed point dragging operation of the user.

Wherein the target endpoint of the target device may be an endpoint at which the target device contacts the work object. The fixed point degrees of freedom may be degrees of freedom in rotation about a fixed point. The countersink can be formed by grinding and drilling the fixed point on the working object, so that a concave pit is formed on the fixed point of the working object. Thereafter, drilling is performed at a higher speed based on the recessed pocket, thereby preventing slippage between the target device and the work object.

In the case where abrupt change of the movement state data of the target device occurs, it is indicated that the target device may come into contact with the work object or the like, the contact surface of the target device with the work object may be acute, and if traveling is continued with the initial degree of freedom, the target device may slip with the work object. To reduce the likelihood of slip, the initial degree of freedom of travel of the target device is adjusted to a fixed point degree of freedom of rotation about a target end point of contact of the target device with the work object.

Based on the target device with the fixed-point degree of freedom, a user can drag the target mechanical arm by taking a target endpoint as a fixed point, so that the contact point between the target device and the working object is kept unchanged, and countersinking of the working object is realized.

In step 303, when receiving the countersink completing instruction, the motion degree of freedom of the target device is restored from the fixed point degree of freedom to the initial degree of freedom.

The countersink completing instruction may be an instruction indicating that countersink is completed.

In this embodiment, after the user drags the target device at a fixed point to finish the socket sinking of the working object, the user may click on the socket sinking completion control on the interactive screen, and the interactive screen generates a socket sinking completion instruction in response to the triggering operation of the socket sinking completion control, and sends the socket sinking completion instruction to the upper computer. The upper computer receives the countersink completing instruction and sends the countersink completing instruction to the mechanical arm control device. Or, the user can indicate the pit sinking completion by a voice command, the upper computer recognizes the voice command, generates a pit sinking completion command, and sends the pit sinking completion command to the mechanical arm control device.

After receiving the countersink completing instruction, the mechanical arm control device adjusts the movement of the target device from the mode of fixed point freedom degree to the mode of initial freedom degree, namely, the target device can continue to move according to the movement track under the driving of the target mechanical arm.

For example, if Δx represents displacement in the X-axis degree of freedom direction, Δy represents displacement in the Y-axis degree of freedom direction, which may be understood as the axial degree of freedom of the target device, Δz represents displacement in the Z-axis degree of freedom direction, Δr _x Indicating the angular change in the direction of the degree of freedom of rotation about the X-axis, ΔR _y Indicating the angular change in the direction of the degree of freedom of rotation about the Y-axis, ΔR _z Indicating the angular change in the direction of the rotational degrees of freedom about the Z axis. g (DeltaF) _y ) Represents a displacement in the Y-axis direction, h (DeltaT) _x ) Indicating an angular change in the X-direction, i (DeltaT), determined from a change in torque about the X-axis _y ) Represents a change in angle in the Y-direction, j (DeltaT) _z ) Indicating that the angular change in the Z direction is determined from the change in torque about the Z axis.

The initial degree-of-freedom motion can be expressed as:

Δx＝0，Δy＝g(ΔF _y )，Δz＝0，ΔR _x ＝0，ΔR _y ＝0，ΔR _z ＝0；

the movement in the fixed point degree of freedom direction can be expressed as:

Δx＝0，Δy＝0，Δz＝0，ΔR _x ＝h(ΔT _x )，ΔR _y ＝i(ΔT _y )，ΔR _z ＝j(ΔT _z )。

in the scheme, the freedom degree of the target device is adjusted to be the fixed-point freedom degree under the condition that the target device is contacted with the working object, so that the socket is reamed on the working object, and the fixed-point freedom degree is adjusted to be the initial freedom degree after the socket is reamed, so that the target device can continue to travel, and the target device is prevented from skidding in the process of acting on the working object.

In an alternative embodiment, the method for controlling a mechanical arm further includes:

and stopping the movement of the target mechanical arm under the condition that the change amount of the operation torque data of the target device is larger than a preset torque threshold value. The operation torque data may be torque data corresponding to a rotation operation of the target device by the user. The torque direction of the operation torque data is various, and the present embodiment is not limited, and for example, the torque direction of the torque data at the time of input may include one or a combination of a plurality of directions of rotation about the X axis of the target device, the Y axis of the target device, and the Z axis of the target device.

In this embodiment, a torque sensor may be disposed in the target device, where the torque sensor generates corresponding operation torque data in real time according to a rotation operation of the target device by a user, and makes a difference between the current operation torque data and a previous operation torque data to obtain a variation of the operation torque data, and if the variation is greater than a preset torque threshold, the target mechanical arm stops moving.

In the above scheme, when an emergency situation occurs, a user can forcefully rotate the target device under the condition that the operation object is not damaged, so that the emergency stop of the target mechanical arm is realized.

Fig. 4 is a schematic diagram of data transmission of a control method for a mechanical arm according to an embodiment of the present disclosure, as shown in fig. 4, an upper computer sends a non-real-time point location motion instruction, a predetermined motion track of the mechanical arm, a start-stop command, etc. to an industrial personal computer, and the industrial personal computer sends the non-real-time point location motion instruction and the motion track to a non-real-time operation control process, where the non-real-time operation control process may be a process for controlling non-real-time motion of the mechanical arm.

The industrial personal computer sends start-stop commands, motion tracks and the like to the mechanical arm control device, and a process for controlling the real-time motion of the mechanical arm can be operated in the mechanical arm control device. And the force data acquisition real-time process acquires force data/torque data generated by the force sensor in real time and sends the force data/torque data to the mechanical arm control device. The mechanical arm control device generates control data according to the received force data/torque data and sends the control data to the mechanical arm operation control real-time process so as to realize real-time control of the mechanical arm.

The mechanical arm state information acquisition is integrated to acquire the mechanical arm state and send the running state to the industrial personal computer, and the industrial personal computer sends the mechanical arm state to the upper computer. Wherein the robotic arm status includes, but is not limited to: a stop state and an operation state.

In the above-mentioned scheme, because a part of the control program of the mechanical arm has a high real-time requirement, for example, in this embodiment, the program for controlling the mechanical arm is divided into a non-real-time operation control program and a real-time program related to the mechanical arm control device. The part with high real-time requirement can be written into the robot arm controller through the demonstrator, so that the time delay of communication with an upper computer is avoided, and the real-time performance is improved.

Fig. 5 shows a schematic structural diagram of a mechanical arm control device according to an embodiment of the disclosure.

As shown in fig. 5, the robot arm control device 500 may include:

the first adjustment module 501 is configured to adjust an initial control coefficient in an initial motion model for controlling motion of the target mechanical arm according to the size of motion state data in the case that the motion state data of the target device is suddenly changed, so as to obtain a target motion model; the target mechanical arm is a mechanical arm for driving the target device to move, and the initial control coefficient comprises at least one of an initial elastic coefficient and an initial damping coefficient;

and the control module 502 is used for controlling the target mechanical arm to drive the target device to move according to the target motion model.

Optionally, the first adjusting module 501 includes:

the first acquisition unit is used for acquiring the current motion state data and acquiring the previous motion state data of the current motion state data to obtain the previous motion state data;

and the determining unit is used for determining that the motion state data is suddenly changed if the absolute value of the change value between the current motion state data and the previous motion state data is larger than a preset motion state threshold value.

Optionally, the first adjusting module 501 includes:

the first adjusting unit is used for adjusting the initial elastic coefficient to be a first elastic coefficient according to a preset elastic coefficient maximum value and the initial elastic coefficient if the current motion state data is larger than a first state threshold value, and adjusting the initial damping coefficient to be a first damping coefficient according to a preset damping coefficient maximum value and the initial damping coefficient;

and the second adjusting unit is used for adjusting the initial elastic coefficient to be a second elastic coefficient according to a preset elastic coefficient minimum value and the initial elastic coefficient and adjusting the initial damping coefficient to be a second damping coefficient according to a preset damping coefficient minimum value and the initial damping coefficient if the current motion state data is smaller than a second state threshold value.

Optionally, if the motion state data is greater than a first state threshold, the apparatus further includes:

the processing module is used for replacing the initial elastic coefficient in the initial motion model with the first elastic coefficient and replacing the initial damping coefficient with the first damping coefficient to obtain an intermediate motion model; and adding a unit displacement amount to the displacement calculation edge of the intermediate motion model to obtain the target motion model.

Optionally, the control module 502 includes:

the second acquisition unit is used for responding to the dragging operation of a user on the target mechanical arm and acquiring force data acquired by a force sensor of the target mechanical arm; wherein the measuring range of the force sensor is larger than a preset measuring range;

the input unit is used for inputting the force data into the target motion control model to obtain motion control data of the target mechanical arm;

and the control unit is used for controlling the target mechanical arm to drive the target device to move according to the motion control data.

Optionally, the device is applied to a processor of the target mechanical arm, and the control unit includes:

a storage subunit, configured to store the motion control data into a control data queue;

the judging subunit is used for judging whether the quantity of the motion control data in the control data queue reaches a preset quantity threshold, if so, extracting the motion control data in the control data queue, and smoothing the motion control data in the control data queue into a plurality of smooth control data;

and the control subunit is used for controlling the target mechanical arm to drive the target device to move according to the plurality of smooth control data.

Optionally, the control subunit is configured to:

determining the size of the smooth control data larger than a first control threshold value in the plurality of smooth control data as a first control threshold value, and determining the size of the smooth control data smaller than a second control threshold value as a second control threshold value, so as to obtain a plurality of adjustment control data corresponding to the plurality of smooth control data;

and controlling the target mechanical arm to drive the target device to move according to the plurality of adjustment control data.

Optionally, the apparatus further includes:

the receiving module is used for receiving the initial degree of freedom of the mechanical arm which is sent by the upper computer and drives the target device to move;

the second adjusting module is used for adjusting the initial degree of freedom into a fixed-point degree of freedom capable of rotating around a target endpoint of the target device under the condition that motion state data of the target device are suddenly changed, so that the target device responds to fixed-point dragging operation of a user to finish countersinking;

and the recovery module is used for recovering the motion freedom degree of the target device from the fixed-point freedom degree to the initial freedom degree under the condition of receiving the countersink completing instruction.

It should be noted that, the mechanical arm control device 500 shown in fig. 5 may perform each step in the above-mentioned mechanical arm control method embodiment, and implement each process and effect in the above-mentioned mechanical arm control method embodiment, which are not described herein.

Fig. 6 shows a schematic structural diagram of an electronic device according to an embodiment of the disclosure.

As shown in fig. 6, the electronic device may include a processor 601 and a memory 602 storing computer program instructions.

In particular, the processor 601 may include a Central Processing Unit (CPU), or an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), or may be configured as one or more integrated circuits that implement embodiments of the present application.

Memory 602 may include a mass storage for information or instructions. By way of example, and not limitation, memory 602 may include a Hard Disk Drive (HDD), floppy Disk Drive, flash memory, optical Disk, magneto-optical Disk, magnetic tape, or universal serial bus (Universal Serial Bus, USB) Drive, or a combination of two or more of these. The memory 602 may include removable or non-removable (or fixed) media, where appropriate. The memory 602 may be internal or external to the integrated gateway device, where appropriate. In a particular embodiment, the memory 602 is a non-volatile solid state memory. In a particular embodiment, the Memory 602 includes Read-Only Memory (ROM). The ROM may be mask-programmed ROM, programmable ROM (PROM), erasable PROM (Electrical Programmable ROM, EPROM), electrically erasable PROM (Electrically Erasable Programmable ROM, EEPROM), electrically rewritable ROM (Electrically Alterable ROM, EAROM), or flash memory, or a combination of two or more of these, where appropriate.

The processor 601 reads and executes the computer program instructions stored in the memory 602 to perform the steps of the robot arm control method provided by the embodiments of the present disclosure.

In one example, the electronic device may also include a transceiver 603 and a bus 604. As shown in fig. 6, the processor 601, the memory 602, and the transceiver 603 are connected to each other through the bus 604 and perform communication with each other.

Bus 604 includes hardware, software, or both. By way of example, and not limitation, the buses may include an accelerated graphics port (Accelerated Graphics Port, AGP) or other graphics BUS, an enhanced industry standard architecture (Extended Industry Standard Architecture, EISA) BUS, a Front Side BUS (FSB), a HyperTransport (HT) interconnect, an industry standard architecture (Industrial Standard Architecture, ISA) BUS, an InfiniBand interconnect, a Low Pin Count (LPC) BUS, a memory BUS, a micro channel architecture (Micro Channel Architecture, MCa) BUS, a peripheral control interconnect (Peripheral Component Interconnect, PCI) BUS, a PCI-Express (PCI-X) BUS, a serial advanced technology attachment (Serial Advanced Technology Attachment, SATA) BUS, a video electronics standards association local (Video Electronics Standards Association Local Bus, VLB) BUS, or other suitable BUS, or a combination of two or more of these. Bus 604 may include one or more buses, where appropriate. Although embodiments of the application have been described and illustrated with respect to a particular bus, the application contemplates any suitable bus or interconnect.

The following are embodiments of a computer readable storage medium provided in the embodiments of the present disclosure, where the computer readable storage medium and the robot arm control method of the above embodiments belong to the same inventive concept, and details of the embodiment of the computer readable storage medium are not described in detail, and reference may be made to the embodiments of the robot arm control method.

The present embodiments provide a storage medium containing computer executable instructions that when executed by a computer processor are used to perform a robotic arm control method.

Of course, the storage medium containing the computer executable instructions provided in the embodiments of the present disclosure is not limited to the above method operations, but may also perform the related operations in the mechanical arm control method provided in any embodiment of the present disclosure.

From the above description of embodiments, it will be apparent to those skilled in the art that the present disclosure may be implemented by means of software and necessary general purpose hardware, but may of course also be implemented by means of hardware, although in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present disclosure may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a FLASH Memory (FLASH), a hard disk, or an optical disk of a computer, where the instructions include a number of instructions for causing a computer cloud platform (which may be a personal computer, a server, or a network cloud platform, etc.) to execute the method for controlling a mechanical arm provided by the various embodiments of the present disclosure.

Note that the above is only a preferred embodiment of the present disclosure and the technical principle applied. Those skilled in the art will appreciate that the present disclosure is not limited to the particular embodiments described herein, and that various obvious changes, rearrangements and substitutions can be made by those skilled in the art without departing from the scope of the disclosure. Therefore, while the present disclosure has been described in connection with the above embodiments, the present disclosure is not limited to the above embodiments, but may include many other equivalent embodiments without departing from the spirit of the present disclosure, the scope of which is determined by the scope of the appended claims.

Claims (11)

1. A method of controlling a robot arm, comprising:

under the condition that the motion state data of the target device is suddenly changed, according to the current size of the motion state data, adjusting an initial control coefficient in an initial motion model for controlling the motion of the target mechanical arm to obtain a target motion model; the target mechanical arm is a mechanical arm for driving the target device to move, and the initial control coefficient comprises at least one of an initial elastic coefficient and an initial damping coefficient;

and controlling the target mechanical arm to drive the target device to move according to the target motion model.

2. The method of claim 1, wherein the abrupt change in motion state data of the target device comprises:

acquiring current motion state data, and acquiring previous motion state data of the current motion state data to obtain previous motion state data;

and if the absolute value of the change value between the current motion state data and the previous motion state data is larger than a preset motion state threshold value, determining that the motion state data is suddenly changed.

3. The method according to claim 1, wherein adjusting the initial control coefficient in the initial motion model for controlling the movement of the target manipulator according to the current size of the movement state data comprises:

if the current motion state data is larger than a first state threshold value, the initial elastic coefficient is reduced to be a first elastic coefficient according to a preset elastic coefficient maximum value and the initial elastic coefficient, and the initial damping coefficient is increased to be a first damping coefficient according to a preset damping coefficient maximum value and the initial damping coefficient;

if the current motion state data is smaller than a second state threshold value, the initial elastic coefficient is increased to be a second elastic coefficient according to a preset elastic coefficient minimum value and the initial elastic coefficient, and the initial damping coefficient is decreased to be a second damping coefficient according to a preset damping coefficient minimum value and the initial damping coefficient.

4. A method according to claim 3, wherein if the motion state data is greater than a first state threshold, the method further comprises:

replacing the initial elastic coefficient in the initial motion model with the first elastic coefficient, and replacing the initial damping coefficient with the first damping coefficient to obtain an intermediate motion model;

and adding a unit displacement amount to the displacement calculation edge of the intermediate motion model to obtain the target motion model.

5. The method of claim 1, wherein controlling the target manipulator to move the target device according to the target motion model comprises:

responding to dragging operation of a user on the target mechanical arm, and acquiring force data acquired by a force sensor of the target mechanical arm; wherein the measuring range of the force sensor is larger than a preset measuring range;

inputting the force data into the target motion control model to obtain motion control data of the target mechanical arm;

and controlling the target mechanical arm to drive the target device to move according to the motion control data.

6. The method of claim 5, wherein the method is applied to a processor of the target mechanical arm, and the controlling the target mechanical arm to move the target device according to the motion control data includes:

Storing the motion control data to a control data queue;

judging whether the quantity of the motion control data in the control data queue reaches a preset quantity threshold, if so, extracting the motion control data in the control data queue, and smoothing the motion control data in the control data queue into a plurality of smooth control data;

and controlling the target mechanical arm to drive the target device to move according to the plurality of smooth control data.

7. The method of claim 6, wherein controlling the target mechanical arm to move the target device according to the plurality of smoothing control data comprises:

determining the size of the smooth control data larger than a first control threshold value in the plurality of smooth control data as a first control threshold value, and determining the size of the smooth control data smaller than a second control threshold value as a second control threshold value, so as to obtain a plurality of adjustment control data corresponding to the plurality of smooth control data;

and controlling the target mechanical arm to drive the target device to move according to the plurality of adjustment control data.

8. The method according to claim 1, wherein the method further comprises:

Receiving an initial degree of freedom of a mechanical arm sent by an upper computer to drive a target device to move;

under the condition that motion state data of a target device is suddenly changed, the initial degree of freedom is adjusted to be a fixed-point degree of freedom capable of rotating around a target endpoint of the target device, so that the target device responds to fixed-point dragging operation of a user to finish countersinking;

and under the condition that a countersink completing instruction is received, restoring the motion freedom degree of the target device from the fixed-point freedom degree to the initial freedom degree.

9. A robot arm control device, comprising:

the first adjusting module is used for adjusting an initial control coefficient in an initial motion model for controlling the motion of the target mechanical arm according to the size of the motion state data under the condition that the motion state data of the target device is suddenly changed, so as to obtain a target motion model; the target mechanical arm is a mechanical arm for driving the target device to move, and the initial control coefficient comprises at least one of an initial elastic coefficient and an initial damping coefficient;

and the control module is used for controlling the target mechanical arm to drive the target device to move according to the target motion model.

10. An electronic device, comprising:

a processor;

a memory for storing executable instructions;

wherein the processor is configured to read the executable instructions from the memory and execute the executable instructions to implement the method of any of the preceding claims 1-8.

11. A computer readable storage medium, on which a computer program is stored, characterized in that the storage medium stores a computer program, which, when executed by a processor, causes the processor to implement the method of any of the preceding claims 1-8.