Control method and apparatus for controlled apparatus, and storage medium

A control apparatus for a controlled apparatus, comprising:

• a processor and a memory connected to the processor;
• wherein
• the memory stores computer execution instructions;
• and
• when executing the computer execution instructions stored in the memory, the processor is configured to:
• obtain a corrected elastic coefficient of a moving component in a transmission apparatus and a driving force of a driving apparatus;
• determine, according to the corrected elastic coefficient and the driving force, a speed difference value between a first speed of the driving apparatus and a second speed of the controlled apparatus, and a rotational speed difference value between a first rotational speed of the driving apparatus and a second rotational speed of the controlled apparatus;
• determine a deformation amount of the transmission apparatus according to the speed difference value or the rotational speed difference value;
• obtain the first speed and the first rotational speed, determine the second speed according to the first speed and the speed difference value, and determine the second rotational speed according to the first rotational speed and the rotational speed difference value;
• determine a transmission force of the transmission apparatus according to the corrected elastic coefficient and the deformation amount;
• and
• control the controlled apparatus to move according to at least one of the deformation amount, the speed difference value, the rotational speed difference value, the second speed, the second rotational speed and the transmission force.