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Motion control method and device of robot

A control method and robot technology, applied in the field of robots, can solve problems such as unsmooth, difficult to master, unnatural movements, etc., and achieve the effect of accurate movements

Inactive Publication Date: 2017-10-03
SHANGHAI XPARTNER ROBOTICS +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, robot action programming is generally based on the PC platform. Programmers need more professional 3D animation knowledge and technical background, especially in combination with human mechanics and robot joint degrees of freedom. It is difficult to master, and the accuracy of actions will be affected by programmers Affected by the technical level, it is also prone to some unnatural and unsmooth movements

Method used

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  • Motion control method and device of robot

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Experimental program
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Embodiment 1

[0052] This embodiment provides a method for controlling robot actions, which is used to collect human actions for robots to imitate and copy, usually performed by a robot action control device, which is implemented by software and / or hardware, and is generally integrated into a computer and its auxiliary equipment.

[0053] Such as figure 1 As shown, the control method of the robot action includes the following steps:

[0054] S11, using the depth sensor to collect the three-dimensional coordinates of the skeleton nodes of the human body frame by frame.

[0055] The depth sensor is generally a CMOS infrared sensor (infrared camera). Through infrared imaging, the image in its field of view is expressed in the form of black and white spectrum to form a depth of field image. Pure black represents infinite distance, pure white represents infinite nearness, and different gray levels Corresponding to different distances from the object to the sensor. The depth sensor captures th...

Embodiment 2

[0080] This embodiment provides a control method for robot actions, which is applied to robots. Through the control method, the robot can copy human actions; the control method is executed by a robot action control device, which is controlled by software and / or Or hardware implementation, generally integrated inside the robot.

[0081] image 3 It is a flow chart of the control method of the robot action in the second embodiment of the present invention. Such as image 3 As shown, the control method includes the following steps:

[0082] S21. Receive instructions including angles of each skeletal node by frame.

[0083] The robot receives the instructions generated in the above embodiments through the network, one instruction per frame, the instruction includes the angle of each skeletal node, and if necessary, the movement speed of the skeletal node.

[0084] S22. Execute a corresponding action according to the angle in the instruction.

[0085] The instructions are anal...

Embodiment 3

[0088] This embodiment provides a robot action control device for implementing the control method described in Embodiment 1 to solve the same technical problem and achieve the same technical effect. The device is generally a computer and its auxiliary equipment.

[0089] Figure 4 It is a structural schematic diagram of the control device for the robot action in the third embodiment of the present invention. Such as Figure 4 As shown, the control device includes:

[0090] The depth sensor 31 is used to collect the three-dimensional coordinates of the skeleton nodes of the human body frame by frame.

[0091] The microprocessor 32 is used to calculate the angle of the skeletal node through a space vector algorithm.

[0092] The network communication device 33 is configured to send the angle to the robot in the form of an instruction, so that the robot performs corresponding actions according to the angle in the instruction.

[0093] In this embodiment, the depth sensor can ...

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Abstract

The invention discloses a motion control method and device of a robot. The control method comprises the steps that a depth sensor is used for collecting three-dimensional coordinates of bone joints of a human body according to the frame; according to the three-dimensional coordinates, the angles of the bone joints are calculated through the spatial vector algorithm; the angles are sent to the robot in an instruction manner, and the robot executes the corresponding motions according to the angles in the instruction. According to the depth sensor, the three-dimensional coordinates in the bone joints in the human body action process can be collected according to the frames, through the spatial vector algorithm, the angles of the motion of the bone joints can be calculated, the angles are sent to the robot through the instruction, a robot steering engine executes the corresponding motion according to the angles, the robot can simulate and copy the human body motion, programming personnel does not need to independently carry out three-dimensional animation programming on each steering engine, instructions of multiple frames are included within one second, and the motion of the robot is more accurate and smooth.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a method and device for controlling the motion of a robot. Background technique [0002] Robot programming refers to the description of the sequence of actions set up for a robot to complete a certain task. The instructions of robot movement and operation are controlled by programs. There are two common programming methods: teaching programming method and offline programming method. The teaching programming method includes teaching, editing and trajectory reproduction, which can be realized through teaching box teaching and guided teaching. The off-line programming method is to use the results of computer graphics to establish a geometric model with the help of graphics processing tools, and to obtain the job planning trajectory through some planning algorithms. [0003] At present, robot action programming is generally based on the PC platform. Programmers need more professiona...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664B25J9/1671G05B2219/40519
Inventor 恽为民程宗强庞作伟
Owner SHANGHAI XPARTNER ROBOTICS
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