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Control method of robot terminal, robot and storage medium

A technology for robots and control parameters, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve problems such as insufficient control stability at the end of the robot

Active Publication Date: 2021-01-26
BEIJING A&E TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present application provides a control method for a robot terminal, a robot, a computer device, and a storage medium, which can solve the problem that the control system for controlling the robot terminal in the prior art is not stable enough for the control of the robot terminal

Method used

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  • Control method of robot terminal, robot and storage medium
  • Control method of robot terminal, robot and storage medium
  • Control method of robot terminal, robot and storage medium

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Embodiment Construction

[0039] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0040] The terms "first", "second", and "third" in this application are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, features defined as "first", "second", and "third" may explicitly or implicitly include at least one of these features. In the description of the present application, "plurality" means at least t...

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Abstract

The invention discloses a control method of a robot terminal, a robot and a storage medium. The control method comprises the steps that control parameters at the current moment are acquired, wherein the control parameters include the first control parameter and the second control parameter, the first control parameter includes an expected positional deviation between the robot terminal and an object controlled by the robot terminal, the second control parameter includes a damping parameter and a quality parameter of the interaction of the robot terminal and the object, and the damping coefficient and / or quality parameter of the current moment is obtained based on the first control parameters at the current moment and the previous moment; an actual positional deviation between the robot terminal and the object is obtained based on the control parameters at the current moment; a control command to the robot terminal is generated based on the actual positional deviation and the expected positional deviation between the robot terminal and the object so as to control the robot terminal at the next moment, wherein the control command includes control parameters at the next moment. In this way, the stability of a control system can be improved.

Description

technical field [0001] The present application relates to the field of robot control, in particular to a method for controlling a robot terminal, a robot and a storage medium. Background technique [0002] At present, many industrial operations require single or multiple robot ends (the end of the robot's mechanical arm) to complete, such as handling, welding, painting, grinding, polishing, assembly, etc. For example, when the operation task is relatively simple, one robot end can complete the operation task. When the operation task is more complex, the operation task needs to be decomposed into multiple subtasks, and then multiple robot ends jointly complete the operation task. The robot corresponds to a control system that can issue control commands that include pre-planned / expected motion information to control the robot to interact with the environment / objects through the end of its mechanical arm (robot end) according to the expected motion information. interaction to ...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/1664
Inventor 叶根王子威
Owner BEIJING A&E TECH
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