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Method and computer-readable storage medium for attenuating robot rotation vibration
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A technology of robots and rotating mechanisms, applied in the field of robots, to achieve the effect of avoiding back and forth shaking and improving stability
Active Publication Date: 2022-02-01
FUJIAN TIANQUAN EDUCATION TECH LTD
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[0004] The technical problem to be solved by the present invention is: to provide a method and a computer-readable storage medium for reducing the vibration of robot rotation, which can effectively avoid the problem of vibration back and forth when the rotation mechanism of the robot rotates, and improve the stability of rotation
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Embodiment 1
[0045] Please refer to Figure 2-3 , Embodiment 1 of the present invention is: a method for reducing the rotational vibration of a robot, which can be applied to a humanoid robot, and is suitable for a scene where the robot imitates human actions.
[0046] Each rotating mechanism of the humanoid robot corresponds to each human body part. For example, the eyelids of the robot have a degree of freedom of rotation, that is, the rotation of the eye in the up and down direction, and the blinking action can be realized when turning; the jaw of the robot has a degree of freedom of rotation, that is, the rotation of the face in the up and down direction, and the speech can be realized when turning Action: The neck of the robot has three degrees of freedom of rotation, namely, the rotation of the head in the left and right directions, the rotation of the head in the up and down direction, and the rotation in the plane where the face is located. When rotating, the left and right shaking...
Embodiment 2
[0067] This embodiment is a computer-readable storage medium corresponding to the above-mentioned embodiments, on which a computer program is stored, and when the program is executed by a processor, the following steps are implemented:
[0068] Dividing the rotation sector of the rotation mechanism of the robot into n execution intervals on average, where n is a preset number;
[0069] A conservative interval is set between two adjacent execution intervals, the interval length of the conservative interval is less than the interval length of the execution interval, and the conservative interval is located in the middle of the two adjacent execution intervals;
[0070] When the control end of the robot receives the rotation command corresponding to the rotation mechanism, determine the execution interval where the angle value in the rotation command is located;
[0071] If the execution interval where the rotating mechanism is currently located is different from and not connecte...
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Abstract
The invention discloses a method and a computer-readable storage medium for weakening the rotation vibration of a robot. The method includes: dividing the rotation sector of the rotation mechanism of the robot into n execution intervals on average; Interval: When the control end of the robot receives the rotation command corresponding to the rotation mechanism, determine the execution interval where the angle value in the rotation command is located; if the execution interval where the rotation mechanism is currently located is different from the execution interval where the angle value is located and not connected, or the execution interval where the rotating mechanism is currently located is connected to the execution interval where the angle value is located, and the angle value is not between the execution interval where the rotation mechanism is currently located and the execution interval where the angle value is located If there is a conservative interval between them, the control end controls the rotating mechanism to rotate to the center position of the execution interval where the angle value is located. The invention can improve the rotation stability of the robot.
Description
technical field [0001] The invention relates to the technical field of robots, in particular to a method and a computer-readable storage medium for reducing the rotational vibration of a robot. Background technique [0002] According to the control terminal data, the robot hardware will vibrate when executing the rotation command. The reason for this phenomenon is often because the data at the control end itself has jitter. If the control terminal transmits data that jitters back and forth, the robot hardware will also jitter back and forth during execution, which greatly affects the user experience. [0003] In order to improve the aforementioned problems, there are currently two methods to choose from. One is to filter the input data of the control terminal, and the representative algorithm has Kalman filter. The other is to limit the rotation interval of the robot at the execution end. By setting several fixed intervals, if the data input before and after the control e...
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