Robot joint control method, device and equipment

The invention discloses a robot joint control method, device and equipment, and the method achieves the detection of a robot joint working mode and the switching between a joint ground contact working mode and a joint ground clearance working mode through the processing of the position information of double encoders. And through switching of control parameters in mode switching, the working conditions of different joint bias torques (such as gravity), inconsistent inertia and the like under the two working modes can be handled. Feedforward compensation of disturbance torque is adopted to reduce position fluctuation when the joint foot touches the ground and leaves the ground, and stable control over the foot joint in the ground leaving and touching processes is achieved. 本发明公开了一种机器人关节控制方法、装置及设备，该方法利用双编码器的位置信息的处理，实现了机器人关节工作模式的检测以及关节触地工作模式和离地工作模式的切换。通过模式切换中控制参数的切换，以应对两种工作模式下，关节偏置力矩(如重力)不同，惯量大小不一致等工况。采用干扰力矩的前馈补偿，以减小关节足触地、离地时的位置波动，实现足式关节在离地和触地过程中的平稳控制。