Motion parameter processing method, device and system, and storage medium

Abstract

The embodiment of the invention provides a motion parameter processing method, device and system and a storage medium. The method comprises the steps of acquiring a motion parameter sequence of a target joint; detecting whether reversing parameter collections exist in the motion parameter sequence or not, wherein each reversing parameter collection comprises motion parameters containing two piecesof adjacent time data with reverse speed data; inserting at least one piece of reversing motion parameter in each reverse parameter collection of at least one reverse parameter collection to obtain anew motion parameter sequence if detecting the at least one reverse parameter collection, wherein the speed data in the reversing motion parameters are equal to 0, and the time data in the reversingmotion parameters are located between the time data of the two pieces of the motion parameters in each reverse parameter collection where the reversing motion parameters are inserted. When the speedsare reverse, one piece of reversing motion parameter equal to 0 is inserted, and a motion component of a robot can be made to stop first and move reversely second. Accordingly, operation of the motioncomponent can be optimized.

Description

technical field [0001] The present invention relates to the technical field of motion control, and more particularly relates to a processing method, device, system and storage medium of motion parameters. Background technique [0002] In a motion control system based on a robot (such as a robotic arm) or similar technology, the device to be controlled (such as a robot or a controller, etc.) establishes a connection relationship with the robot control device (such as a host computer, etc.), and the user can Control the movement of the robot. [0003] The user edits a set of motion parameters, which can be used to control the motion of the robot. For example, the robot can grab an object from point A and place it at point B to carry the object. [0004] When the moving parts of the robot (such as motors) drive the joints to run according to the setting of the motion parameters, if the running speed of the moving parts suddenly reverses, the robot may suddenly freeze, uncoordi...

AI Technical Summary

Problems solved by technology

[0004] When the moving parts of the robot (such as motors) drive the joints to run according to the setting of the motion parameters, if the running speed of the moving parts suddenly reverses, the robot may suddenly freeze, uncoordinated movements, etc.

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