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A motion control method and control system for a 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: 2018-09-04
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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  • A motion control method and control system for a robot
  • A motion control method and control system for a robot
  • A motion control method and control system for a 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 following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the following descriptions and drawings are essential for this 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 me...

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Abstract

The invention provides a motion control method and control system for a robot, which includes the following steps: S20 determines whether the current position of the robot is on the planned path based on the input map information, planned path and real-time location information, and calculates whether the robot is on the planned path. The target position information on Position information is used to calculate the robot's linear velocity, angular velocity and real-time orientation, and then control the robot's movement. The present invention can calculate the point closest to the robot on the planned path as the target position and make the robot move toward the target position. It not only allows the robot to return to the planned path in the shortest time, but also controls the robot to walk quickly and accurately according to any planned path.

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 Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0217
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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