Robot, action optimization method thereof and device
An optimization method and a technology for optimizing devices, which are applied in the field of robotics, can solve problems such as the rigid connection between robot movements and movement, arm shaking, etc., and achieve the effects of reducing the possibility, improving fluency, and reducing shaking
Active Publication Date: 2020-04-03
UBTECH ROBOTICS CORP LTD
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[0005] In view of this, the embodiment of the present application provides a robot and its action optimization method and device to solve the problem that when the robot in the prior art is interrupted, it is easy to cause the arm to shake, making the connection between the robot's actions and actions relatively blunt The problem
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[0035] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
[0036] In order to illustrate the technical solutions described in this application, specific examples are used below to illustrate.
[0037] figure 1 It is a schematic diagram of the implementation flow of a robot action optimization method provided in the embodiment of the present application, and is described in detail as follows:
[0038] In step S101, when an interruption inst...
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The invention relates to an action optimization method of a robot. The method comprises the following steps that: when an interruption instruction of the action of the robot is received, the current first position and first speed of a joint are obtained, and the second position and second speed of the joint of which the action is interrupted are obtained; a cubic spline curve function corresponding to the current interruption instruction is calculated according to the first position, the second position, the first speed and the second speed; and action switching is performed according to the track of the cubic spline curve function between the first position and the second position. Therefore, speeds before and after switching can be continuous by means of cubic spline curve fitting, the possibility of shaking of the action is reduced, and the fluency of action switching is improved.
Description
technical field [0001] The present application belongs to the field of robots, and in particular relates to a robot and its motion optimization method and device. Background technique [0002] The movement of the robot's arm or other body parts can effectively increase the fluency of the robot's communication with people, or increase the expressive effect of the robot's explanation. Therefore, the movement control of the robot's hand wall and other body parts is very important. [0003] At present, the movement of the robot arm is generally controlled by the fitting and interpolation of the key points, that is to say, each group of movements of each joint is fitted by the key points to the joint curve by the fitting method, and then interpolated according to the joint curve . The rotation of each joint is controlled by issuing the joint position and speed mode. When there is no motion control, each joint is in an idle state with high damping, which can better complete the r...
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IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1664
Inventor 熊友军黄祥斌周海浪张木森
Owner UBTECH ROBOTICS CORP LTD