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A robot and its motion optimization method and device

An optimization method and technology for optimizing devices, applied in the field of robotics, can solve the problems of rigid connection between robot movements and movements, arm shaking, etc., to reduce the possibility of shaking and improve the effect of fluency.

Active Publication Date: 2021-12-17
UBTECH ROBOTICS CORP 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 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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  • A robot and its motion optimization method and device
  • A robot and its motion optimization method and device
  • A robot and its motion optimization method and device

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Embodiment Construction

[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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Abstract

A method for optimizing the motion of a robot includes: when receiving an interruption command of a robot motion, obtaining the current first position and first speed of the joint, and obtaining the second position of the first point of the joint after the interruption and the second speed; according to the first position, the second position, the first speed and the second speed, calculate the cubic spline function corresponding to the current interruption instruction; according to the cubic spline function at the first position and the track between the second position for action switching. The speed before and after switching can be continuous through cubic spline curve fitting, which reduces the possibility of jitter in the action and helps to improve the smoothness of the switching action.

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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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