Robot joint configuration determining method, robot using the same and computer readable storage medium

A robot, comprising:

• a reducer;
• an output device;
• a processor;
• a memory coupled to the processor;
• and
• one or more computer programs stored in the memory and executable on the processor;
• wherein, the one or more computer programs comprise:
• instructions for establishing a joint model of a first joint of the robot, wherein the joint model comprises:
• the first joint and a passive joint connected in series with the first joint;
• instructions for simulating the joint model using first motion deviation data to obtain first result data, wherein the first motion deviation data represents a motion deviation of the first joint, and wherein a motion range of the passive joint is determined based on the first motion deviation data when simulating the joint model using the first motion deviation data;
• instructions for simulating the joint model using second motion deviation data to obtain second result data, wherein a difference between the second motion deviation data and the first motion deviation data is less than a first threshold, and wherein the motion range of the passive joint is determined based on the second motion deviation data when simulating the joint model using the second motion deviation data;
• instructions for determining whether the first result data meets one or more preset conditions, and whether the second result data meets the one or more preset conditions;
• using the first motion deviation data as the target motion deviation data, in response to the first result data meeting the one or more preset conditions and the second result data not meeting the one or more preset conditions;
• using the second motion deviation data as the target motion deviation data, in response to the first result data not meeting the one or more preset conditions and the second result data meeting the one or more preset conditions;
• and using the larger of the values of the first motion deviation data and the values of the second motion deviation data as the target motion deviation data, in response to both the first result data and the second result data meeting the one or more preset conditions;
• and
• instructions for determining type information of the reducer in a configuration information of the first joint based on the target motion deviation data, and displaying, by the output device, the type information of the reducer on a user interface.

A non-transitory computer readable storage medium for storing one or more computer programs, wherein the one or more computer programs comprise:

• instructions for establishing a joint model of a first joint of a robot, wherein the joint model comprises:
• the first joint and a passive joint connected in series with the first joint;
• instructions for simulating the joint model using first motion deviation data to obtain first result data, wherein the first motion deviation data represents a motion deviation of the first joint, and wherein a motion range of the passive joint is determined based on the first motion deviation data when simulating the joint model using the first motion deviation data;
• instructions for simulating the joint model using second motion deviation data to obtain second result data, wherein a difference between the second motion deviation data and the first motion deviation data is less than a first threshold, and wherein the motion range of the passive joint is determined based on the second motion deviation data when simulating the joint model using the second motion deviation data;
• instructions for determining whether the first result data meets one or more preset conditions, and whether the second result data meets the one or more preset conditions;
• using the first motion deviation data as the target motion deviation data, in response to the first result data meeting the one or more preset conditions and the second result data not meeting the one or more preset conditions;
• using the second motion deviation data as the target motion deviation data, in response to the first result data not meeting the one or more preset conditions and the second result data meeting the one or more preset conditions;
• and using the larger of the values of the first motion deviation data and the values of the second motion deviation data as the target motion deviation data, in response to both the first result data and the second result data meeting the one or more preset conditions;
• and
• instructions for determining type information of a reducer in a configuration information of the first joint based on the target motion deviation data, and displaying, by an output device, the type information of the reducer on a user interface.