A robot control method, system and robot

A control method and robot technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of mechanical impact, damage to the reducer, no standards, etc., and achieve the effect of reducing loss and avoiding mechanical impact.

Active Publication Date: 2021-04-23
SHENZHEN YUEJIANG TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In view of this, the embodiment of the present invention provides a robot control method, system and robot to solve the kinematics parameters set in the prior art, relying on the experience of technicians, there is no uniform standard, if the kinematics parameter setting does not meet the The mechanical motion state of the robot is easy to cause mechanical shock, and it is easy to damage the reducer after long-term operation, which will accelerate the wear and tear of the robot.

Method used

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  • A robot control method, system and robot
  • A robot control method, system and robot
  • A robot control method, system and robot

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Embodiment 1

[0053] Such as figure 1 As shown, this embodiment provides a robot control method, which can be applied to terminal devices such as mobile phones, PCs, tablet computers, and robots. The robot control method provided in this embodiment includes:

[0054]S101. When a motion command is received, obtain a parameter value of the motion command; wherein, the parameter value of the motion command includes a maximum velocity value, a maximum acceleration value, and a maximum jerk value.

[0055] In a specific application, if a motion command for controlling the motion of the robot is received, the parameter value of the motion command is obtained according to a first preset algorithm, so as to obtain the motion state of the robot according to the parameter value of the motion command. Wherein, the parameter value of the movement instruction includes but not limited to the maximum speed value, the maximum acceleration value and the maximum jerk value; in this embodiment, the first pre...

Embodiment 2

[0070] Such as figure 2 As shown, this embodiment is a further description of the method steps in the first embodiment. In this embodiment, after step S103, it also includes:

[0071] S201. If there is no motion axis whose maximum torque value is greater than a preset maximum torque value among all the motion axes, perform speed planning on the robot according to the parameter value of the motion command, and obtain a second speed planning result;

[0072] In a specific application, if there is no motion axis whose maximum torque value is greater than the preset maximum torque value among all the motion axes, then the parameter value of the motion command is less than or equal to the preset motion parameter value, and the speed of the robot is adjusted according to the parameter value of the motion command. Planning, to obtain the second velocity planning results.

[0073] S202. Output the second speed planning result to adjust the acceleration value of the robot.

[0074]...

Embodiment 3

[0080] Such as image 3 As shown, this embodiment is a further description of the method steps in the first embodiment. In this embodiment, step S101 includes:

[0081] S1011. When the motion command is received, obtain a parameter value of the motion command according to a parameterized equation.

[0082] In a specific application, if a motion command is received, the parameter value of the motion command is obtained according to a parameterized equation; wherein, the parameter value of the motion command includes but is not limited to a maximum velocity value, a maximum acceleration value, and a maximum jerk value. Through the parametric equation, the constraint problem of the n-dimensional motion command is transformed into a single-dimensional constraint problem, which simplifies the amount of calculation.

[0083] In one embodiment, the parametric equation is:

[0084] q i = f i (s), i=1,2,...,dof;

[0085] Wherein, the s∈[0,1] is a normalization parameter, and the ...

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Abstract

The present invention is applicable to the technical field of robot control, and provides a robot control method, system and robot, including: when a motion command is received, the parameter value of the motion command is obtained and calculated, and the maximum torque value of all motion axes of the robot is obtained, compared The maximum torque value of each motion axis and the preset maximum torque value of each motion axis. If there is a motion axis whose maximum torque value is greater than the preset maximum torque value, the motion axis is used as the target motion axis; according to the target motion axis The preset maximum torque value, calculate the maximum acceleration value and maximum deceleration value of the target motion axis, plan the speed of the robot according to the maximum acceleration and maximum deceleration values ​​of the target motion axis, obtain the first speed planning result and output it, so as to The acceleration value of the robot is adjusted. The invention can detect and judge the motion state of the robot in real time, plan the speed of the robot, adjust the acceleration value, and reduce the loss of the robot.

Description

technical field [0001] The invention belongs to the technical field of robot control, and in particular relates to a robot control method, system and robot. Background technique [0002] In recent years, the application market of robots has become larger and larger, and the research on robots has become more and more in-depth. [0003] The existing algorithms for robot trajectory planning only consider the kinematics level, and the set kinematics parameters depend on the experience of technicians, and there is no uniform standard. [0004] However, if the kinematics parameter setting does not conform to the mechanical motion state of the robot, it will easily cause mechanical shock, and the reducer will be easily damaged after long-term operation, which will accelerate the wear and tear of the robot. Contents of the invention [0005] In view of this, the embodiment of the present invention provides a robot control method, system and robot to solve the kinematics paramete...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
Inventor 林炯辉朗需林曹林攀林俊凯
Owner SHENZHEN YUEJIANG TECH CO LTD
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