Motion parameter processing method, device and system and storage medium

A technology of motion parameters and processing methods, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems that affect the accuracy of the displacement of moving parts, and achieve the effect of ensuring the accuracy of displacement

CN109551486AActive Publication Date: 2019-04-02深圳镁伽科技有限公司
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2019-04-02

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Abstract

The embodiment of the invention provides a motion parameter processing method, device and system and a storage medium. The method includes the steps that a motion parameter sequence of a target jointis obtained; whether direction changing parameter sets exist in the motion parameter sequence or not is detected; each direction changing parameter set includes motion parameters making the motion direction of a motion part changed, wherein three time data of the motion parameters are adjacent; and if at least one direction changing parameter set is detected, at least one direction changing motionparameter is inserted in each of at least one direction changing parameter set so as to obtain a new motion parameter sequence, and at least one direction changing motion parameter is used for indicating the return clearance generated when the motion part completes direction changing in preset time. The direction changing motion parameter is inserted in the motion parameters making the motion direction of the motion part changed so that the return clearance can be compensated for, the displacement accuracy of the motion part can be better ensured, and it can be better ensured that a robot reaches the set position with the set speed within set time.
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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, 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 through the robot control device.

[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] A certain joint of the robot may have the action of "reversing" in a complete action. Combine below figure 1 Describe the commutation action. figure 1 A schematic diagram of a robot 100 according to an examp...

Examples

Embodiment Construction

[0040] In order to make the objects, technical solutions and advantages of the present invention more apparent, exemplary embodiments according to the present invention will be described in detail below with reference to the accompanying drawings. Apparently, the described embodiments are only some embodiments of the present invention, rather than all embodiments of the present invention, and it should be understood that the present invention is not limited by the exemplary embodiments described here. Based on the embodiments of the present invention described in the present invention, all other embodiments obtained by those skilled in the art without creative effort shall fall within the protection scope of the present invention.

[0041] In order to solve the problem of poor displacement accuracy caused by backlash during reversing, an embodiment of the present invention provides a method for processing motion parameters. According to this method, in the initially acquired s...