A robot programming method, device and equipment, and storage medium

A programming method and robot technology, applied in the field of robots, can solve problems such as low coordination performance, and achieve the effect of avoiding low coordination performance and simplifying programming methods

Active Publication Date: 2021-01-26
上海鲸鱼机器人科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] In view of this, the present invention provides a robot programming method, device and equipment, and a storage medium to avoid the problem of low coordination performance of each joint when the robot moves due to the need to program multiple steering gears separately

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  • A robot programming method, device and equipment, and storage medium
  • A robot programming method, device and equipment, and storage medium
  • A robot programming method, device and equipment, and storage medium

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Embodiment Construction

[0064] Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with aspects of the invention as recited in the appended claims.

[0065] The terminology used in the present invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used herein and in the appended claims, the singular forms "a", "the", and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It should also be understood that the term "and / or" as use...

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Abstract

The present invention provides a robot programming method, device and equipment, and a storage medium. The method includes: determining an initial state parameter set corresponding to the initial posture of the robot; receiving an external trigger instruction; and executing parameter configuration when the received instruction is an instruction When receiving an instruction, obtain the motion state parameters of each joint of the robot in the current posture, determine the process state parameter set required for the robot to move from the previous posture to the current posture, and return to the step of receiving an externally triggered instruction; when receiving When the instruction is an instruction indicating to determine the execution code, the control code is determined according to the preset template code, the determined initial state parameter set and each process state parameter set. Avoid the problem of low coordination performance of each joint when the robot moves due to the need to program multiple servos separately.

Description

technical field [0001] The present invention relates to the technical field of robots, in particular to a robot programming method, device and equipment, and a storage medium. Background technique [0002] In the field of robotics, it is necessary to store the control program that controls the movement of the robot in the robot. When the robot is moving, the movement of the robot, such as moving forward, turning, backward, and jumping, can be realized by running the control program. A robot usually has multiple joints. When performing actions, the coordination of each joint is required. In other words, the control program needs to control the actions of each joint. [0003] In the related robot programming method, it is usually to program each joint steering gear separately, and then integrate the control programs of each joint steering gear to obtain the control program that controls the movement of the entire robot, so as to achieve the mutual cooperation of multiple steer...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/161B25J9/1664
Inventor 刘洪亮
Owner 上海鲸鱼机器人科技有限公司
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