Method and system for controlling motion of robot

A technology of motion control and robotics, applied in the field of robotics, to achieve the effect of reducing requirements, improving flexibility, and increasing the movable range

Active Publication Date: 2016-08-17
平邑经济开发区投资发展有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to solve the problem of fast and precise walking of the robot, the present invention provides a motion control method and control device for the robot

Method used

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  • Method and system for controlling motion of robot
  • Method and system for controlling motion of robot

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Embodiment Construction

[0054] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings that need to be used in the description of the embodiments or the prior art will be briefly introduced below. The invention is exemplary and should not be construed as limiting the invention. The following description describes numerous specific details to facilitate an understanding of the present invention. However, in certain instances, well-known or conventional details are not described in order to satisfy the requirement of conciseness of the description.

[0055] The motion control method of the robot of the present invention can be written in the java language, and can also be implemented in other programming languages ​​such as C#, VB, and C++ / C.

[0056] Such as figure 1 Said, according to one embodiment of the present invention, a motion control method of a robot includes the following steps:

[0057] The map i...

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Abstract

The invention provides a method and system for controlling motion of a robot. The method comprises a step S20 of judging whether a current position of the robot is on a planned route according to input map information, the planned route and real-time position information, and calculating target position information of the robot on the planned route; a step S30 of making the robot be towards a target position according to the real-time position information and the target position information if the current position of the robot is not on the planned route, or else directly skipping to a step S40; and the step S40 of calculating linear velocity, angular velocity and real-time direction of the robot according to the real-time position information and the target position information and then controlling the robot move. According to the method, a point on the planned route, which is the nearest to the robot, can be calculated to serve as the target position, the robot is towards the target position, so that not only can the robot return to the planned route in the shortest time, but also the robot can walk quickly and precisely according to any planned route.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a motion control method and a control system of a robot. Background technique [0002] With the continuous advancement of science and technology, robots play an important role in today's society. Because robots can complete various tasks autonomously in some aspects, such as cleaning robots and fire-fighting robots, so as to save human resources and reduce the safety of firefighters. [0003] Among them, controlling the robot to walk according to the planned path is the key to the robot's autonomous completion of various tasks. At present, a nonholonomic control system is usually used to control the movement of the robot. The nonholonomic control system is: through the action of some control input, the robot can move quickly and accurately to a certain position or planned path in the motion space. [0004] In reality, due to the limitation of the physical characteristics of the s...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0217G05D2201/0217
Inventor 左嘉欣张小章征贵
Owner 平邑经济开发区投资发展有限公司
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