Control method, apparatus, and system of a composite robot

A control system of a composite robot, comprising a composite robot and a massage platform, wherein the composite robot is communicatively connected to the massage platform, the composite robot comprises a robot arm and a motion mechanism, a controller and a force sensor are mounted in the robot arm, the robot arm is mounted on the motion mechanism, the controller is communicatively connected to the motion mechanism, and the controller is configured to perform:

• acquiring a plurality of forces and a plurality of torques collected by the force sensor in a current motion when the robot arm is pulled to move;
• calculating a plurality of displacement value sets according to the plurality of forces, the plurality of torques, a preset desired force, a preset desired torque, and a preset model, wherein each of the plurality of displacement value sets comprises a first displacement value corresponding to the robot arm and a second displacement value corresponding to the motion mechanism, and the preset model comprises an admittance model or an impedance model;
• calculating an optimal solution according to the plurality of displacement value sets to obtain a first target displacement value corresponding to the robot arm and a second target displacement value corresponding to the motion mechanism;
• controlling the robot arm to move according to the first target displacement value and controlling the motion mechanism to move according to the second target displacement value;
• and
• repeating the operation of acquiring a plurality of forces and a plurality of torques collected by the force sensor in a current motion until the robot arm and the motion mechanism stop moving;
• wherein the controller calculates the optimal solution according to the plurality of displacement value sets to obtain the first target displacement value corresponding to the robot arm and the second target displacement value corresponding to the motion mechanism by:
• acquiring a current kinematics parameter and a force-related parameter;
• determining a screening condition according to the current kinematics parameter and the force-related parameter, wherein the screening condition is determined by a kinematics parameter and a received force in each state, the current kinematics parameter comprises displacement, speed and acceleration of the motion mechanism and displacement, speed and acceleration at the end of the robot arm, the force-related parameter comprises six degrees of freedom at the end of the robot arm, wherein the six degrees of freedom comprise three translational degrees of freedom x, y, and z of the robot arm and three rotational degrees of freedom rx, ry, and rz of the robot arm;
• and
• determining a displacement value satisfying the screening condition from among the plurality of displacement value sets as a target displacement value, wherein the target displacement value comprises the first target displacement value corresponding to the robot arm and the second target displacement value corresponding to the motion mechanism.

A non-transitory computer-readable storage medium storing computer-executable instructions which, when called and executed by a processor, cause the processor to perform:

• acquiring a plurality of forces and a plurality of torques collected by a force sensor in a current motion when a robot arm is pulled to move;
• calculating a plurality of displacement value sets according to the plurality of forces, the plurality of torques, a preset desired force, a preset desired torque, and a preset model, wherein each of the plurality of displacement value sets comprises a first displacement value corresponding to the robot arm and a second displacement value corresponding to a motion mechanism, and the preset model comprises an admittance model or an impedance model;
• calculating an optimal solution according to the plurality of displacement value sets to obtain a first target displacement value corresponding to the robot arm and a second target displacement value corresponding to the motion mechanism;
• controlling the robot arm to move according to the first target displacement value and controlling the motion mechanism to move according to the second target displacement value;
• and
• repeating the operation of acquiring a plurality of forces and a plurality of torques collected by the force sensor in a current motion until the robot arm and the motion mechanism stop moving;
• wherein the processor calculates the optimal solution according to the plurality of displacement value sets to obtain the first target displacement value corresponding to the robot arm and the second target displacement value corresponding to the motion mechanism by:
• acquiring a current kinematics parameter and a force-related parameter;
• determining a screening condition according to the current kinematics parameter and the force-related parameter, wherein the screening condition is determined by a kinematics parameter and a received force in each state, the current kinematics parameter comprises displacement, speed and acceleration of the motion mechanism and displacement, speed and acceleration at the end of the robot arm, the force-related parameter comprises six degrees of freedom at the end of the robot arm, wherein the six degrees of freedom comprise three translational degrees of freedom x, y, and z of the robot arm and three rotational degrees of freedom rx, ry, and rz of the robot arm;
• and
• determining a displacement value satisfying the screening condition from among the plurality of displacement value sets as a target displacement value, wherein the target displacement value comprises the first target displacement value corresponding to the robot arm and the second target displacement value corresponding to the motion mechanism.