CN117961889A - Mechanical arm action driving method, electronic equipment and storage medium - Google Patents
Mechanical arm action driving method, electronic equipment and storage medium Download PDFInfo
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Abstract
The embodiment of the invention relates to the field of robots and discloses a mechanical arm action driving method, electronic equipment and a storage medium, wherein an original fitting curve is obtained by acquiring original position data of an original mechanical arm and performing curve fitting on the original position data; scaling the original fitting curve based on the scaling ratio of the length between the original mechanical arm and the target mechanical arm, and taking the scaled curve as a target fitting curve of the target mechanical arm; performing position fitting on the target mechanical arm according to the target fitting curve to obtain target position data of the target mechanical arm; and driving the target mechanical arm to act based on the target position data of the target mechanical arm. The scheme is used for solving the problem of sharing the motion data between different mechanical arms, so that the same set of motion data can be applied to different mechanical arms.
Description
Technical Field
The present invention relates to the field of robots, and in particular, to a method for driving a motion of a mechanical arm, an electronic device, and a storage medium.
Background
The motion of a traditional mechanical arm often needs to be solved by a mechanical arm inverse kinematics derivation and jacobian matrix or planned by a teaching method. Singular points can exist in a mode of inverse kinematics deduction and jacobian matrix of the mechanical arm to cause motion abnormality, and planning of actions by a teaching method is needed to plan actions of different mechanical arms (the number of joints and the length of connecting rods are different). While a physical robot may be considered a combination of multiple robotic arms (limbs, trunk may be considered different robotic arms), similar problems also exist.
Disclosure of Invention
The embodiment of the invention aims to provide a mechanical arm action driving method, electronic equipment and a storage medium, which are used for solving the problem that action data cannot be shared among different mechanical arms, so that the same set of action data can be applied to different mechanical arms.
In order to solve the above technical problems, an embodiment of the present invention provides a method for driving a motion of a mechanical arm, including:
Acquiring original position data of an original mechanical arm, and performing curve fitting on the original position data to obtain an original fitting curve;
Scaling the original fitting curve based on the scaling ratio of the length between the original mechanical arm and the target mechanical arm, and taking the scaled curve as a target fitting curve of the target mechanical arm;
Performing position fitting on the target mechanical arm according to the target fitting curve to obtain target position data of the target mechanical arm;
and driving the target mechanical arm to act based on the target position data of the target mechanical arm.
The embodiment of the invention also provides electronic equipment, which comprises:
At least one processor; and
A memory communicatively coupled to the at least one processor; wherein,
The memory stores instructions executable by the at least one processor to enable the at least one processor to perform the robotic arm motion driving method as described above.
Embodiments of the present invention also provide a computer-readable storage medium storing a computer program which, when executed by a processor, implements the robot arm action driving method as described above.
Compared with the prior art, the method and the device have the advantages that the original fitting curve of the original mechanical arm and the scaling ratio of the length between the original mechanical arm and the target mechanical arm are obtained, the original fitting curve is scaled, and the scaled curve is used as the target fitting curve of the target mechanical arm. And performing position fitting on the target mechanical arm according to the target fitting curve to obtain target position data of the target mechanical arm, and performing action driving on the target mechanical arm based on the target position data. According to the scheme, only the original mechanical arm is required to be subjected to action planning, namely, only one set of action data is required to be planned, and a resolving relation can be established for the position data of the original mechanical arm and the target mechanical arm according to the scaling between the original mechanical arm and the target mechanical arm, so that one set of action data obtained by carrying out action planning on the original mechanical arm is applied to other mechanical arms.
In some embodiments, acquiring the raw position data of the raw mechanical arm as described above, and performing curve fitting on the raw position data to obtain a raw fitted curve, including: acquiring original position data of each joint point of an original mechanical arm, and performing curve fitting on the original position data of each joint point to obtain the original fitting curve.
In some embodiments, obtaining the original position data of each node of the original mechanical arm as described above, and performing curve fitting on the original position data of each node to obtain the original fitting curve, where the obtaining includes: acquiring original position data of each joint point of an original mechanical arm, and performing curve fitting on the original position data of each joint point by adopting a least square method or a gradient descent method to obtain the original fitting curve.
In some embodiments, scaling the original fit curve based on the scaling between the original and target robotic arms with respect to length as described above includes: scaling the original fitting curve based on a preset fixed scaling ratio of the original mechanical arm and the target mechanical arm with respect to the length; or scaling the original fitting curve based on a scaling ratio formed by the preset fixed scaling ratio and the adjustment factor; the fixed scaling is the ratio of the original mechanical arm length to the target mechanical arm length, and the adjustment factor is obtained by adjusting fitting errors generated in the process of performing position fitting on the target mechanical arm according to the target fitting curve last time.
In some embodiments, performing position fitting on the target mechanical arm according to the target fitting curve as described above to obtain target position data of the target mechanical arm, including: and solving the distance from each node of the target mechanical arm to the target fitting curve by establishing a mathematical equation, and determining the position data of each node when the sum of the distances is the global minimum as the target position data of each node of the target mechanical arm.
In some embodiments, the actuating the target manipulator based on the target position data of the target manipulator as described above includes: and solving the target position data of each joint point of the target mechanical arm by using an Euler angle method to obtain the coordinate system posture of each joint point, and driving each joint point of the target mechanical arm to move to the corresponding coordinate system posture.
In some embodiments, after the obtaining the coordinate system pose of each node, as described above, further includes: judging whether the coordinate system posture of at least one joint point exceeds the posture adjustable range of the joint point in the coordinate system postures of all the joint points; and if the coordinate system gesture exists, taking the same-direction boundary value in the gesture adjustable range as the coordinate system gesture corresponding to the articulation point.
In some embodiments, the number of joints of the original robotic arm as described above is the same as or different from the number of joints of the target robotic arm.
Drawings
FIG. 1 is a flowchart of a method for driving a motion of a robot arm according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of a primary mechanical arm structure according to an embodiment of the present invention;
FIG. 3 is a schematic view of a target robotic arm structure according to an embodiment of the invention;
fig. 4 is a schematic structural view of an electronic device according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the following detailed description of the embodiments of the present application will be given with reference to the accompanying drawings. However, those of ordinary skill in the art will understand that in various embodiments of the present application, numerous technical details have been set forth in order to provide a better understanding of the present application. The claimed application may be practiced without these specific details and with various changes and modifications based on the following embodiments.
At present, the motion of a traditional mechanical arm often needs to be solved through inverse kinematics deduction of the mechanical arm and a jacobian matrix, or planned through a teaching method or planned through the teaching method. Singular points can exist in a mode of inverse kinematics deduction and jacobian matrix of the mechanical arm to cause motion abnormality, and motion planning is carried out through a teaching method, so that motion planning is required for different mechanical arms (different in number of joints and different in length of connecting rods), the planning process is complex, and universality is not achieved. On the basis, the application provides a mechanical arm action driving method which is used for solving the problem that different mechanical arms need to perform action planning respectively, a set of original actions is developed in an original mechanical arm in advance, when the actions need to be applied to other target mechanical arms, a resolving relation is established according to the scaling of the length between the original mechanical arm and the target mechanical arm, the original actions are converted according to the scaling and are applied to the target mechanical arm, and therefore the same set of action data can be ensured to be applied to different mechanical arms, and action planning is not needed to be performed for different mechanical arms independently. The mechanical arm action driving method in the application is concretely as follows.
An embodiment of the present invention relates to a method for driving a motion of a robot arm, as shown in fig. 1, comprising the following steps.
Step 101: and acquiring original position data of the original mechanical arm, and performing curve fitting on the original position data to obtain an original fitting curve.
Specifically, the mechanical arm refers to a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling, and has been widely applied in the fields of industrial assembly, safety explosion prevention and the like due to the unique operation flexibility. The physical robot consists of a visual sensor, a mechanical arm system and a main control computer. The mechanical arm is generally provided with one or more joints and connecting rods, and the joints and the connecting rods are sequentially connected in series to form the mechanical arm, so that the original position data of the original mechanical arm can be obtained by obtaining the joint position or the connecting rod position of the original mechanical arm as the original position data.
After the original position data of the original mechanical arm is obtained, curve fitting can be performed on the obtained original position data. Curve fitting is to use a model (or equation) to fit a series of data into a smooth curve so as to observe the internal relation between two groups of data and know the change trend between the data. Specifically, the motion process of the mechanical arm can be abstracted into spatial position data change in a time sequence, wherein the time sequence is discrete, that is, the time sequence is taken as a certain time interval, and the time interval is the update frequency of the motion data of the mechanical arm. The scheme of the application is to perform real-time calculation with the update frequency, namely, firstly, the original position data of the original mechanical arm is obtained, a fitting curve is established by adopting a least square method or a gradient descent method to fit the original position data, so as to obtain an original fitting curve, and the original fitting curve can be expressed by a polynomial f1 (x, y, z) in a three-dimensional space.
In one example, obtaining original position data of an original mechanical arm, and performing curve fitting on the original position data to obtain an original fitting curve, including: acquiring original position data of each joint point of an original mechanical arm, and performing curve fitting on the original position data of each joint point to obtain an original fitting curve.
Specifically, the raw position data of the raw mechanical arm may be spatial position information of each joint point of the raw mechanical arm, that is, position data of each joint point in space. The original position data of each node is subjected to curve fitting to obtain an original fitting curve, specifically, the curve fitting can be performed by adopting a least square method or a gradient descent method, and the original fitting curve can be expressed by a polynomial f1 (x, y, z) in a three-dimensional space, so that the application is not particularly limited.
Step 102: and scaling the original fitting curve based on the scaling ratio of the length between the original mechanical arm and the target mechanical arm, and taking the scaled curve as the target fitting curve of the target mechanical arm.
Specifically, when acquiring the original position data of the original mechanical arm, the length of the connecting rod of the original mechanical arm and the target mechanical arm can be acquired in addition to the spatial position of each joint point of the original mechanical arm. Since the original mechanical arm may be connected in series by more than one link, the length in this embodiment refers to the total length of all the links after being stacked. After the lengths of the original mechanical arm and the target mechanical arm are obtained, the original fitting curve can be scaled based on the scaling ratio of the length between the original mechanical arm and the target mechanical arm, and the scaled curve is the target fitting curve of the target mechanical arm.
In one example, scaling the original fit curve based on the scaling between the original robotic arm and the target robotic arm with respect to length in step 102 includes:
scaling the original fitting curve based on a fixed scaling ratio of the length between the original mechanical arm and the target mechanical arm; or alternatively
Scaling the original fitting curve based on a scaling ratio formed by a preset fixed scaling ratio and an adjusting factor;
The fixed scaling is the ratio of the original mechanical arm length to the target mechanical arm length, and the adjustment factor is obtained by adjusting fitting errors generated in the process of performing position fitting on the target mechanical arm according to the target fitting curve last time.
Specifically, a fixed scaling ratio can be preset for the scaling ratio of the original mechanical arm and the target mechanical arm with respect to the length, and the original fitting curve is scaled. For example, when the length of the connecting rod of the original mechanical arm (the sum of the connecting rods) is L1 and the length of the connecting rod of the target mechanical arm is L2, the scaling ratio k=l1/L2 may be set to be a fixed scaling ratio, and if the original fitting curve of the original mechanical arm is S1, scaling is performed on the original fitting curve S1 by a factor of K, and the target fitting curve S2 of the target mechanical arm is S1/K.
Correspondingly, the original fitting curve can be scaled based on a scaling ratio formed by a preset fixed scaling ratio and an adjusting factor. That is, to ensure that the original fitted curve and the target fitted curve are suitable for various robots or robotic arms with differences (differences in different joints, different link lengths, etc.), adjustment factors may be introduced on the basis of a fixed scaling. The adjustment factor may be preset, or may be obtained by adjusting a fitting error generated in a process of performing position fitting on the target manipulator according to the target fitting curve last time (wherein, a principle of performing position fitting on the target manipulator according to the target fitting curve may refer to step 103). The phenomenon that the target fitting curve is not fit due to scaling according to the fixed scale factor can be avoided by introducing the adjusting factor.
For example, the original mechanical arm is a mechanical arm with 6 joints, the length is L1, and the original fitting curve S1 is approximately circular; the target mechanical arm is 2 joint mechanical arms, the length is L2, L1 is equal to L2, and the fixed scaling K is 1. At this time, if scaling is performed simply at the fixed scaling rate K, the effect of the target fitting curve S2 is poor. Therefore, the adjustment factor E is introduced, and the fitting effect of the target fitting curve S2 obtained by scaling the original fitting curve S1 is better based on the scaling ratio, for example, k×e, formed by the preset fixed scaling ratio and the adjustment factor.
Step 103: and performing position fitting on the target mechanical arm according to the target fitting curve to obtain target position data of the target mechanical arm.
Specifically, after the target fitting curve is obtained, as the parameter information (the number of joints and the corresponding length of the connecting rod) of the target mechanical arm is known, the target mechanical arm can be subjected to position fitting according to the shape of the target fitting curve, so that the target position data of each joint point of the target mechanical arm is obtained when the target mechanical arm performs the same action planning as the original mechanical arm. It should be noted that the number of joints of the original mechanical arm may be the same as or different from the number of joints of the target mechanical arm.
In one example, the specific implementation procedure of step 103 may be: and solving the distance between each node of the target mechanical arm and the target fitting curve by establishing a mathematical equation, and determining the position data of each node when the sum of the distances is the global minimum as the target position data of each node of the target mechanical arm.
Specifically, because the parameter information (the number of joints and the corresponding length of the connecting rod) of the target mechanical arm is known, the distances between each joint point and the target fitting curve are solved by establishing a mathematical equation, when the sum of the distances is the global minimum, each joint point of the target mechanical arm is proved to be closest to the target fitting curve, the fitting effect is the best, and at the moment, the position of each joint point is the target position data.
Step 104: and performing action driving on the target mechanical arm based on the target position data of the target mechanical arm.
Specifically, after the target position data of each node of the target mechanical arm is determined, the target mechanical arm can be driven to move according to the target position data of the target mechanical arm, and the target mechanical arm can execute tasks by adopting the same movement plan as the original mechanical arm on the basis of no need of independent planning.
In one example, step 104 may include the steps of: and (3) solving the target position data of each joint point of the target mechanical arm by using an Euler angle method to obtain the coordinate system posture of each joint point, and driving each joint point of the target mechanical arm to move to the corresponding coordinate system posture.
Specifically, euler angles are a set of 3 independent angle parameters used to determine the fixed point rotational rigid body position, consisting of nutation angle θ, precession angle (i.e., precession angle) ψ, and rotation angle Φ. In a static definition, for a reference system in three dimensions, any coordinate system orientation can be represented by three euler angles. Two different dynamic definitions of euler angles may also be given. One is a composite of three rotations around coordinate axes fixed to a rigid body; the other is a composite of three rotations about the laboratory reference axis. The Euler angle can be used for representing a gesture matrix, target position data of each joint point of the target mechanical arm can be calculated through the Euler angle method, the coordinate system gesture of each joint point is obtained, and then each joint point of the target mechanical arm is driven to move to the corresponding coordinate system gesture, so that the action driving of the target mechanical arm is realized.
In one example, after obtaining the coordinate system pose of each node, the method further includes: judging whether the coordinate system posture of at least one joint point in the coordinate system posture of each joint point exceeds the posture adjustable range of the joint point or not; if the coordinate system gesture exists, the same-direction boundary value in the gesture adjustable range is used as the coordinate system gesture of the corresponding joint point.
Specifically, since each joint point of the target mechanical arm has a fixed posture adjustable range, after the target position data of each joint point of the target mechanical arm is resolved to obtain the coordinate system posture of each joint point, it is further required to determine whether each joint point of the target mechanical arm can reach the resolved coordinate system posture of each joint point within the posture adjustable range. That is, it is determined whether or not there is at least one joint point in the coordinate system pose of each joint point whose coordinate system pose exceeds the pose adjustable range of the joint point. If the coordinate system posture of the joint point exceeds the posture adjustable range of the joint point, the joint point is proved to be unable to reach the calculated coordinate system posture of the joint point. At this time, a boundary value in the posture adjustable range of the joint point, which is in the same direction as the coordinate system posture of the joint point, may be used as the actual coordinate system posture of the joint point.
For example, the adjustable range of the gesture of the first joint point of the target mechanical arm is 90 ° in the rotation range, that is, the maximum rotatable 45 ° of each of the left and right directions, and if the calculated gesture of the coordinate system of the first joint point needs to rotate the first joint point by 50 ° to the right, the gesture of the coordinate system of the first joint point exceeds the adjustable range of the gesture of the joint point. At this time, the first joint point cannot reach the calculated coordinate system posture, and at this time, the same direction boundary value in the posture adjustable range of the first joint point can be used as the coordinate system posture of the first joint point, namely, the coordinate system posture of the joint point is rotated 45 degrees to the right.
As shown in fig. 2 and 3, the present embodiment will be described below using a planar robot arm as an example.
As shown in fig. 2, the original mechanical arm is composed of 4 articulation points and 3 links, and the original mechanical arm link (total) length l1=l001+l002+l003; the target mechanical arm consists of 3 joint points and 2 connecting rods, and the (total) length of the connecting rods of the target mechanical arm is L2=L101+L102; the scaling ratio between the original arm length L1 and the target arm length L2 is specifically a fixed ratio k=l1/L2. The original position data (namely, the spatial position information, the position of each joint point in the space) of the original mechanical arm is obtained, a fitting curve can be established by adopting a least square method, a gradient descent method and the like to fit the spatial position of each joint point of the original mechanical arm, the original fitting curve is represented by f (x, y), and the original fitting curve f (x, y) is shown as a dotted line in fig. 2.
Because the original mechanical arm and the target mechanical arm are different, the original fitting curve of the original mechanical arm needs to be scaled to be suitable for the target mechanical arm. In this embodiment, the original fitting curve is scaled based on a scaling ratio formed by a preset fixed scaling ratio K and an adjustment factor E. I.e. there is a Scaler (K x E) function to scale the original fitted curve f (x, y) to obtain the target fitted curve f1 (x, y), as shown by the dashed line in fig. 3.
Wherein E may be a preset fixed value, i.e. set to a certain fixed value at the beginning of the movement; or the fitting error generated in the process of performing position fitting on the target mechanical arm according to the target fitting curve in the last time is adjusted, wherein the error is the sum of the distances of the actual positions of all joints from the curve, and the E is reduced when the sum of the total distances is increased. Knowing the parameter information (the number of joint points and the corresponding length L2 of the connecting rod) of the target mechanical arm, solving the distance between each joint point of the target mechanical arm and the target fitting curve f1 (x, y) by establishing a mathematical equation, and when the sum of the distances is the global minimum, determining the position of each joint point as the target position data of each joint point of the target mechanical arm.
In the process of establishing the mathematical equation, the joint point J001 in fig. 2 and the joint point J101 in fig. 3 are the starting points of the original fitted curve f (x, y) and the target fitted curve f1 (x, y), respectively. Taking the target fitting curve f1 (x, y) in fig. 3 as an example, the possible spatial positions of the joint point J102 are on a circular locus with J101 as a circular point and the connecting rod L101 as a radius; the possible spatial position of the joint point J103 is on a circular track with the joint point J102 as a circular point and the connecting rod L102 as a radius; taking the constraint as a constraint condition, the minimum value of the joint points J101, J102 and J103 to the target fitting curve f1 (x, y) is solved. When the sum of the distances is the global minimum, namely, the positions of the joint points J101, J102 and J103 are the target position data, and the coordinate system pose of the corresponding joint points J101, J102 and J103 can be solved by solving the target position data through the Euler angle method.
Compared with the related art, in the embodiment, the original fitting curve of the original mechanical arm and the scaling ratio of the length between the original mechanical arm and the target mechanical arm are obtained, the original fitting curve is scaled, and the scaled curve is used as the target fitting curve of the target mechanical arm. And performing position fitting on the target mechanical arm according to the target fitting curve to obtain target position data of the target mechanical arm, and performing action driving on the target mechanical arm based on the target position data. According to the scheme, only the original mechanical arm is required to be subjected to action planning, namely, only one set of action data is required to be planned, and then a resolving relation can be established for the position data of the original mechanical arm and the target mechanical arm according to the scaling ratio between the original mechanical arm and the target mechanical arm, so that one set of action data for carrying out action planning on the original mechanical arm is applied to other mechanical arms.
Another embodiment of the invention is directed to an electronic device, as shown in fig. 4, comprising at least one processor 202; and a memory 201 communicatively coupled to the at least one processor 202; wherein the memory 201 stores instructions executable by the at least one processor 202, the instructions being executable by the at least one processor 202 to enable the at least one processor 202 to perform any one of the method embodiments described above.
Where memory 201 and processor 202 are connected by a bus, the bus may comprise any number of interconnected buses and bridges, the buses connecting together various circuits of one or more of the processor 202 and memory 201. The bus may also connect various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art, and therefore, will not be described any further herein. The bus interface provides an interface between the bus and the transceiver. The transceiver may be one element or may be a plurality of elements, such as a plurality of receivers and transmitters, providing a means for communicating with various other apparatus over a transmission medium. The data processed by the processor 202 is transmitted over a wireless medium via an antenna, which further receives the data and transmits the data to the processor 202.
The processor 202 is responsible for managing the bus and general processing and may also provide various functions including timing, peripheral interfaces, voltage regulation, power management, and other control functions. And memory 201 may be used to store data used by processor 202 in performing operations.
Another embodiment of the present invention relates to a computer-readable storage medium storing a computer program. The computer program, when executed by a processor, implements any of the method embodiments described above.
That is, it will be understood by those skilled in the art that all or part of the steps in implementing the methods of the embodiments described above may be implemented by a program stored in a storage medium, where the program includes several instructions for causing a device (which may be a single-chip microcomputer, a chip or the like) or a processor (processor) to perform all or part of the steps in the methods of the embodiments of the application. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples of carrying out the invention and that various changes in form and details may be made therein without departing from the spirit and scope of the invention.
Claims (10)
1. A mechanical arm action driving method is characterized by comprising the following steps:
Acquiring original position data of an original mechanical arm, and performing curve fitting on the original position data to obtain an original fitting curve;
Scaling the original fitting curve based on the scaling ratio of the length between the original mechanical arm and the target mechanical arm, and taking the scaled curve as a target fitting curve of the target mechanical arm;
Performing position fitting on the target mechanical arm according to the target fitting curve to obtain target position data of the target mechanical arm;
and driving the target mechanical arm to act based on the target position data of the target mechanical arm.
2. The method of claim 1, wherein the obtaining the raw position data of the raw robotic arm and performing curve fitting on the raw position data to obtain a raw fitted curve includes:
Acquiring original position data of each joint point of an original mechanical arm, and performing curve fitting on the original position data of each joint point to obtain the original fitting curve.
3. The method according to claim 2, wherein the obtaining the original position data of each node of the original mechanical arm, and performing curve fitting on the original position data of each node, to obtain the original fitting curve, includes:
Acquiring original position data of each joint point of an original mechanical arm, and performing curve fitting on the original position data of each joint point by adopting a least square method or a gradient descent method to obtain the original fitting curve.
4. The method of claim 1, wherein scaling the original fitted curve based on a scaling between the original robotic arm and the target robotic arm with respect to length comprises:
Scaling the original fitting curve based on a preset fixed scaling ratio of the original mechanical arm and the target mechanical arm with respect to the length; or alternatively
Scaling the original fitting curve based on a scaling ratio formed by the preset fixed scaling ratio and the adjusting factor;
The fixed scaling is the ratio of the original mechanical arm length to the target mechanical arm length, and the adjustment factor is obtained by adjusting fitting errors generated in the process of performing position fitting on the target mechanical arm according to the target fitting curve last time.
5. The method of claim 1, wherein the performing position fitting on the target manipulator according to the target fitting curve to obtain target position data of the target manipulator includes:
and solving the distance from each node of the target mechanical arm to the target fitting curve by establishing a mathematical equation, and determining the position data of each node when the sum of the distances is the global minimum as the target position data of each node of the target mechanical arm.
6. The method of claim 5, wherein the actuating the target robotic arm based on target position data of the target robotic arm comprises:
and solving the target position data of each joint point of the target mechanical arm by using an Euler angle method to obtain the coordinate system posture of each joint point, and driving each joint point of the target mechanical arm to move to the corresponding coordinate system posture.
7. The method of claim 6, further comprising, after said deriving the coordinate system pose of each node of interest:
Judging whether the coordinate system posture of at least one joint point exceeds the posture adjustable range of the joint point in the coordinate system postures of all the joint points;
And if the coordinate system gesture exists, taking the same-direction boundary value in the gesture adjustable range as the coordinate system gesture corresponding to the articulation point.
8. The method of claims 1-7, wherein the number of joints of the original robotic arm is the same as or different from the number of joints of the target robotic arm.
9. An electronic device, comprising:
At least one processor; and
A memory communicatively coupled to the at least one processor; wherein,
The memory stores instructions executable by the at least one processor to enable the at least one processor to perform the robotic arm motion driving method of any one of claims 1-8.
10. A computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the robot arm action driving method according to any one of claims 1 to 8.
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