Speed smoothing method and device for robot

A smoothing device and robot technology, applied in the field of robots, can solve problems such as poor robot stability, and achieve the effect of solving poor stability

Inactive Publication Date: 2019-02-15
北京云迹科技股份有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The main purpose of this application is to provide a speed smoothing method

Method used

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  • Speed smoothing method and device for robot
  • Speed smoothing method and device for robot
  • Speed smoothing method and device for robot

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Embodiment Construction

[0028] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiment of the application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiment of the application. Obviously, the described embodiment is only It is an embodiment of a part of the application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

[0029] It should be noted that the terms "first" and "second" in the description and claims of the present application and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It should be understood that the data so used may be interchanged under appropriate circumstances for...

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Abstract

The present application discloses a speed smoothing method and a device for a robot. The method comprises of receiving angular velocity and linear velocity of a robot local path planer; converting theangular velocity and linear velocity to a target control speed of the left and right wheels of the robot according to a robot chassis motion model; and performing a pre-set smoothing process on the target control speed to obtain an actual delivery speed and inputting it into a motor controller. According to the speed smoothing method and the device for the robot, the technical problem of poor stability during the movement of the robot is solved, and a linear smoothing process, which is adjustable, is performed to the converted left and right wheel speed. In addition, a better speed control effect can be achieved in combination with the robot as a whole.

Description

technical field [0001] The present application relates to the field of robots, in particular, to a velocity smoothing method and device for robots. Background technique [0002] Usually, wheeled robots generally use motors to drive the wheels. In order to make the wheeled robot move smoothly without frustration, avoid obstacles and reach the target accurately, the speed must be planned. [0003] The inventor found that since the motor drivers of general wheeled robots are integrated with a speed smoothing module, the smoothing module can solve part of the movement needs of wheeled robots, but generally there are problems of cumbersome debugging and mediocre effects, and only the motor is used as the controlled Object, there is no robot as a whole as the object of speed planning, so it is generally still necessary to configure the speed planning module on the control end. This results in cumbersome control and complex structure. [0004] Aiming at the problem of poor stabil...

Claims

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Application Information

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IPC IPC(8): G05D13/62
CPCG05D13/62
Inventor 支涛李全印
Owner 北京云迹科技股份有限公司
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