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Motion control method and device of robot and robot

A motion control device and motion control technology, applied in the direction of program control manipulator, program control, general control system, etc.

Active Publication Date: 2019-11-05
UBTECH ROBOTICS CORP LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In view of this, the embodiment of the present application provides a robot motion control method, device, and robot to solve the problem that in the prior art, when a robot performs a unified action, one of the robots fails and recovers and cannot keep moving with other robots. unanimous question

Method used

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  • Motion control method and device of robot and robot
  • Motion control method and device of robot and robot
  • Motion control method and device of robot and robot

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Embodiment 1

[0026] figure 2 It shows a schematic diagram of the implementation flow of a robot motion control method provided by the embodiment of the present application, and is described in detail as follows:

[0027] Step S21, acquiring the current motion state of the robot, the motion state includes a normal motion state or an abnormal motion state;

[0028] In the embodiment provided by the application, the logic processing layer and the control layer of the robot pass I 2 The C interface is connected to realize the communication between the two. Wherein, the logic processing layer includes the Raspbian system, and correspondingly, the control layer includes the STM32 system. The logic control layer acquires motion data of the robot from the control layer, so as to determine the current motion state of the robot according to the motion data. The motion state includes a normal motion state when the robot performs a preset action or an abnormal motion state when a fault occurs (suc...

Embodiment 2

[0056] Corresponding to the motion control method of the robot described in the above embodiments, image 3 A structural block diagram of the motion control device of the robot provided by the embodiment of the present application is shown, and for the convenience of description, only the parts related to the embodiment of the present application are shown.

[0057] refer to image 3 , the motion control device of the robot includes: a state acquisition module 31, a first indication module 32, a time interval acquisition module 33 and a second indication module 34, wherein:

[0058] A state acquiring module 31, configured to acquire the current motion state of the robot, the motion state comprising a normal motion state or an abnormal motion state;

[0059] The first indication module 32 is used to store the received data corresponding to the actions that the robot needs to perform when it is in a normal motion state when the robot is currently in an abnormal motion state;

...

Embodiment 3

[0078] Figure 4 It is a schematic diagram of a robot provided by an embodiment of this application. like Figure 4 As shown, the robot 4 of this embodiment includes: a processor 40 , a memory 41 and a computer program 42 stored in the memory 41 and operable on the processor 40 . When the processor 40 executes the computer program 42, it realizes the steps in the embodiments of the above-mentioned motion control methods for each robot, for example figure 2 Steps S21 to S24 are shown. Alternatively, when the processor 40 executes the computer program 42, it realizes the functions of the modules / units in the above-mentioned device embodiments, for example image 3 The functions of modules 31 to 34 are shown.

[0079] Exemplarily, the computer program 42 can be divided into one or more modules / units, and the one or more modules / units are stored in the memory 41 and executed by the processor 40 to complete this application. The one or more modules / units may be a series of c...

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Abstract

The invention is applicable to the technical field of intelligent control, and provides a motion control method and device of a robot and the robot. The method comprises the following steps that a current motion state of the robot is acquired, and if the robot is in an abnormal motion state currently, the received data is stored; when the robot is detected to return to a normal motion state, the time interval returning from the abnormal motion state to the normal motion state of the robot is acquired; and the robot is indicated to continue executing the corresponding action after the robot returns to the normal motion state. In the process, when the robot executes an unified task, even if a certain robot interrupts the execution of the action due to a fault, the robot can continue executing the corresponding action according to the time of the fault and the data of needing to-be-executed action when the robot is in the normal motion state after the robot returns to the normal motion state, so that the robot can continue being consistent with other robots in action.

Description

technical field [0001] The present application belongs to the technical field of intelligent control, and in particular relates to a robot motion control method, device and robot. Background technique [0002] A robot is a machine device that performs work automatically. It can accept human command, run pre-programmed programs, and act according to principles formulated with artificial intelligence technology. Therefore, robots can be applied in many fields. At this stage, many robots are used in performances, such as the use of robot dancers. When a robot participates in a performance, sometimes multiple robots will participate together and perform a unified action, but some of the robots may be interrupted due to unknown reasons. Other robots are not unified, thus affecting the effect of the program. Contents of the invention [0003] In view of this, the embodiment of the present application provides a robot motion control method, device, and robot to solve the prob...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J11/00
CPCB25J9/1602B25J9/1664B25J11/003B25J9/1674G05B2219/40213B25J9/1653B25J11/0035
Inventor 熊友军杨若鹄梅礼海王轶丹李少春
Owner UBTECH ROBOTICS CORP LTD
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