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

Abstract

Embodiments of the present invention provide a method, device, system and storage medium for processing motion parameters. The method includes: obtaining the motion parameter sequence of the target joint; detecting whether there is a reversing parameter set in the motion parameter sequence, and each reversing parameter set includes three time data adjacent motion parameters that reverse the moving direction of the moving part; and if At least one commutation parameter set is detected, then for each of the at least one commutation parameter set, at least one commutation motion parameter is inserted into the commutation parameter set to obtain a new motion parameter sequence, at least one commutation motion parameter The parameter is used to indicate the backlash when the moving part passes the commutation within the preset time. For the motion parameters that reverse the motion direction of the moving parts, insert the reversing motion parameters to compensate for the backlash, which is beneficial to ensure the displacement accuracy of the moving parts, and to ensure that the robot can operate at the set time and at the set time. The speed reaches the set position.

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...

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Problems solved by technology

[0005] The above reversing process may have the following problems: due to the gap in the mechanical structure (there is a gap between the gears of the reducer, etc.), this gap (which can be called the backlash or backlash) will affect the moving parts (such as The accuracy of the displacement of the motor) makes the robot unable to reach the set position at the set time and at the set speed

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