Robot motion control method and device, and computer readable storage medium

A technology of robot motion and control method, applied in the field of control, can solve problems such as poor self-adaptability and slow control response speed, and achieve the effect of improving control response speed and self-adaptability

Inactive Publication Date: 2018-12-14
BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The inventors of the present invention have found the following problems in the above-mentioned prior art: the traditional path planning method needs to pre-plan the correction path by performing complex calculations based on the current position and speed of the robot, resulting in slow control response speed, and the environment, road surface, etc. The ability to adapt to the influence of external factors such as poor

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  • Robot motion control method and device, and computer readable storage medium
  • Robot motion control method and device, and computer readable storage medium
  • Robot motion control method and device, and computer readable storage medium

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Embodiment Construction

[0035] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangements of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.

[0036] At the same time, it should be understood that, for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0037] The following description of at least one exemplary embodiment is merely illustrative in nature and in no way taken as limiting the invention, its application or uses.

[0038] Techniques, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods and devices should be considered part of the Authoriz...

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Abstract

The present invention discloses a robot motion control method and device, and relates to the technical field of control. The method comprises the steps of: performing fuzzification processing for a travel angle deviation and a position deviation in the domain of discourse of the travel angle deviation and the position deviation at a current moment to obtain a fuzzy value of the travel angle deviation and a fuzzy value of the position deviation; performing fuzzy inference for the fuzzy value of the travel angle deviation and the fuzzy value of the position deviation to obtain a fuzzy value of amotion correction of the robot; in the domain of discourse of the motion correction, performing defuzzification processing for the fuzzy value of the motion correction to obtain a motion correction;and performing real-time regulation for the domain of discourse of the angle deviation and the domain of discourse of the position deviation according to the travel angle deviation and the position deviation at the current moment. The method and the device improve the adaptive ability and the response speed of motion control of the robot.

Description

technical field [0001] The invention relates to the field of control technology, in particular to a method and device for controlling robot motion, and a computer-readable storage medium. Background technique [0002] The development of logistics technology has moved towards informatization and unmanned in an all-round way. Relying on the efficient and accurate control of robots can improve the efficiency and quality of logistics. Therefore, how to quickly and smoothly correct and rectify the robot motion trajectory through the robot motion control method is the main technical problem that needs to be faced at present. [0003] In the prior art, each driving wheel of the robot is controlled separately according to the calculation result of the path planning method, so as to achieve the purpose of correcting the motion trajectory. Contents of the invention [0004] The inventors of the present invention have found the following problems in the above-mentioned prior art: th...

Claims

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Application Information

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Patent Type & AuthorityApplications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0276G05D1/02
Inventor霍峰
OwnerBEIJING JINGDONG QIANSHITECHNOLOGY CO LTD