A robot motion joint control method, system, storage medium and robot
A technology of robot movement and control method, which is applied in the field of intelligent robots, and can solve problems such as instability, unsatisfactory presentation effects, and jitter
Active Publication Date: 2021-05-11
杭州景吾智能科技有限公司
View PDF8 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
[0003] At present, the control methods of robot motion joints include speed control, position control, etc. The speed increase has a fixed slope increase, and a trapezoidal climbing increase, such as Figure 4 As shown, from top to bottom in the figure, the first curve is the position curve of joint 1, the second curve is the speed curve corresponding to joint 1, the third curve is the position curve of joint 2, and the fourth curve is the joint The speed curve corresponding to the second, as can be seen from the figure, when the joints 1 and 2 reach the target position, the speed has not dropped to zero, and there is a small acceleration and deceleration, which leads to shaking and instability when starting and stopping, and the rendering effect is generally not very ideal
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0046]In order to more clearly illustrate the technical solutions of the present invention, the specific embodiments of the present invention will be described below with reference to the drawings. It will be apparent that the drawings in the following description are merely some embodiments of the invention, and those of ordinary skill in the art will also obtain other drawings according to these figures without paying creative labor. Other embodiments.
[0047]In order to make the drawing, only the parts associated with the present invention are schematically shown, which does not represent the actual structure of the product. Additionally, it is schematically illustrated in one of the same structures or functions, and only one of them is schematically illustrated in some of the components of the same structure or function in some figures. In this article, "one" not only means "only one", but also "more than one" situation.
[0048]An embodiment of the invention, such asfigure 1 withFig...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention provides a robot motion joint control method, system, storage medium and robot, relating to the technical field of intelligent robots, including the step of: dividing the distance between the current position and the target position into several strokes according to the planning time and planning frequency point; carry out sinusoidal path planning for several travel points, and calculate several time positions corresponding to the travel points; calculate and output corresponding sinusoidal The speed of the wave. The present invention uses sinusoidal S-curve control, so that within a given time, during the movement process of the robot's kinematic joints from the current position to the target position, it first accelerates and then decelerates until it reaches the target position, the speed decreases to zero, and the whole movement process is S Curve state, with smooth, stable and graceful effect.
Description
Technical field[0001]The present invention relates to the technical field of intelligent robots, especially in a robotic motion joint control method, system, storage medium, and robot.Background technique[0002]The manufacturing and control technology of the robot in the past few years have been widely used in the automotive manufacturing industry, and can achieve high control accuracy. With the increase in labor costs in my country, under the requirements of "machine change" and industrial upgrading, the automation production level of various industries urgently needs to be improved. Application robots can avoid duplication of cumbersome labor, achieve high stability, high precision production, so that work efficiency is greatly improved.[0003]At present, the robot sports joint control method has speed control, position control, etc., and the speed increase has a fixed slope, and there is a trapezoidal climbing, such asFigure 4 As shown, from the top to bottom, the first curve is th...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/1664
Inventor 刘晓辉王建宽
Owner 杭州景吾智能科技有限公司