Method, device and system for processing motion parameters, 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 end motion parameter sequence of the end effector of the robot; interpolating the end motion parameter sequence to obtain an interpolation parameter sequence; and converting the interpolation parameter sequence into a joint motion parameter sequence of at least one joint of the robot. The above method only requires the user to set a small number of motion parameters of the end effector, and obtain a larger number of motion parameters through interpolation. This method can greatly reduce the complexity of the user's work, and is a very user-friendly motion control method, and This makes it possible to achieve smooth operation of the motor or robot while keeping the workload of the user low.

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] Typically, the user can control the motion of the robot by editing the motion parameters of the end effector of the robot. In this way, whether the motion parameters set by the user on the robot control device are appropriate will largely affect whether the motor (or robot) runs smoothly. [0004] For example, for the same action, if the motion parameters are set too few, then the acceleration and deceleration of the motor moti...

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Problems solved by technology

In this way, whether the motion parameters set by the user on the robot control device are appropriate will largely affect the smooth operation of the motor (or robot)

[0004] For example, for the same action, if the motion parameters are set too few, then the acceleration and deceleration of the motor motion may be particularly large, which will have a large impact on the motor, reducer, etc., and the motion process will be unstable, prone to stuttering, abnormal noise, etc. ; If you want to reduce these problems, you need to set more motion parameters, which is difficult for users to complete, time-consuming and labor-intensive, and error-prone. The computing power requirements are also particularly high, which is difficult to achieve

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