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Robot joint motion control method, device and terminal equipment

A technology of robot joints and joint movement, applied in the field of intelligent robots, can solve problems such as overshooting, affecting user experience, and stiff movements, and achieve the effects of avoiding overshooting, improving experience, and low control costs

Active Publication Date: 2020-06-02
UBTECH ROBOTICS CORP LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In view of this, the embodiments of the present invention provide a robot joint motion control method, device, and terminal equipment, which can solve the problem of overshooting, stiff motion, mechanical performance of motion, and even Problems that cause the robot to shake and other problems affect the user experience

Method used

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  • Robot joint motion control method, device and terminal equipment
  • Robot joint motion control method, device and terminal equipment
  • Robot joint motion control method, device and terminal equipment

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Embodiment Construction

[0027] 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 invention. It will be apparent, however, to one skilled in the art that the invention 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 invention with unnecessary detail.

[0028] In order to illustrate the technical solutions of the present invention, specific examples are used below to illustrate.

[0029] refer to figure 1 , figure 1 It is a schematic flowchart of a method for controlling a robot joint motion provided by an embodiment of the present invention. This method can be applied to robots, and the method is detailed as follows:

[0030] S101: According...

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Abstract

The invention is suitable for the technical field of intelligent robots, and provides a robot joint motion control method, device and terminal equipment. The robot joint motion control method includesthe steps of obtaining the coordinate values of a plurality of key points of robot joint motion, determining the coordinate values of two smooth connection points before and after each key point according to preset time connection factors, working out the joint motion track between every two adjacent smooth connection points according to a preset parabolic connection formula and through the coordinate values of each two smooth connection points and the corresponding key point, and controlling robot joint motion according to the joint motion track between every two adjacent smooth connection points. The problems of motion overshoot, rigid motion, mechanical motion expression and even shaking of a whole robot during joint motion of the robot can be avoided, and user experience is improved.

Description

technical field [0001] The invention belongs to the technical field of intelligent robots, and in particular relates to a robot joint motion control method, device and terminal equipment. Background technique [0002] With the continuous development of intelligent technology, the research on intelligent robots has gradually entered people's daily fields, among which consumer robots or entertainment and educational robots have gradually expanded to the fields of home, entertainment and service industries. Joint movements are often relatively simple. [0003] At present, the control of joint movements in consumer robots or entertainment robots often adopts non-joint or simple linear joint control. These two control methods are relatively simple to implement, but when the joints of the robot are in motion, it is easy to cause motion overshoot , Stiff movements, mechanical performance of movements, and even cause the robot to shake and other problems, affecting the user experie...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664B25J9/1602
Inventor 熊友军庞建新张礼富范文华柳冬
Owner UBTECH ROBOTICS CORP LTD
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