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Robot joint motion control method, device and terminal equipment

A technology for robot joints and joint motions, applied in the field of intelligent robots, can solve the problems of rigid movements, overshooting, affecting user experience, etc., to achieve the effect of low control cost, avoiding overshooting, and improving experience

Active Publication Date: 2022-04-15
UBTECH ROBOTICS CORP LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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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

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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, techniques such as specific system structures, and techniques are proposed to illustrate the embodiments of the present invention. However, those skilled in the art will appreciate that the present invention can also be implemented in other embodiments without these specific details. In other cases, detailed description of well known systems, devices, circuits, and methods is omitted to prevent unnecessary details to prevent the description of the present invention.

[0028] In order to illustrate the technical solution of the present invention, the description will be described below by way of example.

[0029] refer to figure 1 , figure 1 A flow schematic of a robot joint motion control method provided by an embodiment of the present invention. The method can be applied to the robot, which is detailed below:

[0030] S101: Depending on the preset linear control model, obtain the coordinate ...

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Abstract

The present invention is applicable to the technical field of intelligent robots. The present invention provides a robot joint motion control method, device and terminal equipment. The method includes: acquiring the coordinate values ​​of multiple key points of the robot joint motion, and according to the preset time connection factor, Determine the coordinate values ​​of two smooth connection points before and after each key point, and calculate the distance between each two adjacent smooth connection points according to the preset parabolic connection formula according to the coordinate values ​​of each two smooth connection points and the corresponding key points. According to the joint movement trajectory between two adjacent smooth joint points, the joint movement of the robot is controlled, which can avoid the overshooting, stiff movement and mechanical performance of the robot's joints during movement, and even cause The robot shakes and other problems to improve the user experience.

Description

Technical field [0001] The present invention belongs to the technical field of intelligent robots, and in particular, the invention relates to a robot joint motion control method, device and terminal device. Background technique [0002] With the continuous development of intelligent technology, the research of intelligent robots has gradually entered people's daily fields, including consumer robots or entertainment robots to gradually expand their families, entertainment, and service industry, such robots, due to low product costs, Joint actions are often simpler. [0003] At present, the control of the joint action in the consumer robot or entertainment robot is often used in connection with no connection or simple linear connection control. These two control methods are simpler, but the robot's joint is moving, it is easy to cause overshoot. , The action is stiff, the action is mechanical, and even causes the robot's entire machine to shake, affect the user's experience. Inve...

Claims

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Application Information

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Patent Type & Authority Patents(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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